KR20210090255A - Vehicle positioning system and method, vehicle control method and apparatus - Google Patents

Abstract

The present invention relates to a vehicle positioning system and method, and a vehicle control method and apparatus, the vehicle positioning system comprising: a virtual road display device configured to display a virtual road; an image acquisition device configured to acquire a target image while the target vehicle travels on the virtual road; and the target vehicle determines first location information on the virtual road according to the target image; and a processor configured to transmit first location information to the target vehicle.

Description

Vehicle positioning system and method, vehicle control method and apparatus

Cross-referencing of related applications

This application was filed based on a Chinese patent application with an application number of 201910816312.2 and an application date of August 30, 2019, claiming priority to the Chinese patent application, all contents of the Chinese patent application are incorporated herein by reference do.

The present invention relates to the field of computer technology, and more particularly to a vehicle positioning system and method, and a vehicle control method and apparatus.

The research results of the vehicle model can be for many fields such as autonomous driving, vehicle control, etc., but the road in the vehicle model is usually a real road, the route of the road is usually fixed, the economic cost of the road is relatively high, and the road installation is It takes a certain amount of time.

The present invention provides a vehicle positioning system and method, and a vehicle control method and apparatus.

An embodiment of the present invention provides a vehicle positioning system, wherein the vehicle positioning system includes a virtual road display device, an image acquisition device and a processor, wherein the virtual road display device is configured to display a virtual road; the image acquisition device is located above the virtual road, and is configured to acquire a target image while the target vehicle travels on the virtual road; the processor is connected to or built into the image acquisition device, the target vehicle determines first location information on the virtual road according to the target image; and transmit the first location information to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the first location information.

According to the vehicle positioning system of the embodiment of the present invention, a virtual road can be displayed through the virtual road display device, a plurality of roads can be designed for a target vehicle, the cost of the road can be reduced, and the road installation time is also It is not necessary, and the flexibility of the road route has been improved. The processor may determine the first location information of the target vehicle according to the target image in which the target vehicle drives on the virtual road, and cause the target vehicle to determine the location on the road in real time, so as to accurately drive the target vehicle on the virtual road. By eliminating the need to record and adapt to the virtual road itself, the calculation of the target vehicle's driving process is simplified.

In a possible implementation manner, the processor is further configured to: obtain second location information of the obstacle according to the target image; and transmit the second location information to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the first location information and the second location information. In this way, the target vehicle has the ability to avoid obstacles, thereby improving the performance of the target vehicle.

In a possible implementation manner, the virtual road display device comprises a projection device, wherein the projection device is configured to project a pattern of the virtual road.

In a possible implementation manner, the projection device comprises a projector and a projection plane, wherein the projector is configured to project the pattern of the virtual road onto the projection plane.

In a possible implementation manner, the virtual road display device includes an augmented reality device, and the augmented reality device is configured to display the virtual road in an augmented reality interface.

In a possible implementation manner, the virtual road display device is further configured to determine, according to the size of the target vehicle, the size of the virtual road, the size of the target vehicle includes a width of the target vehicle, the size of the virtual road includes the width of the road.

In a possible implementation manner, the virtual road display device is configured to: acquire a place image for displaying a virtual road place; obtaining, according to the place image, place information, wherein the place information includes a size of the place; and determine the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle.

In a possible implementation manner, the processor is further configured to: obtain location information and a size of a target vehicle; and determine the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle, and transmit to the virtual road display device. In this way, the size of the virtual road and the size of the target vehicle can be adapted to each other, and if the target vehicle is changed, the size of the virtual road can be easily adjusted, there is no need to purchase again or create a new road. , reducing the cost, and improving the usability of the virtual road.

In a possible implementation manner, the processor is further configured to: generate a vehicle control command according to at least the first location information; and send the vehicle control command to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the vehicle control command.

In a possible implementation manner, the determining of the first location information of the target vehicle on the virtual road according to the target image includes: according to the target image, the target vehicle determines an offset from a lane centerline on the virtual road. determining; and generating the first location information according to the offset.

In a possible implementation manner, the determining of the first position information of the target vehicle on the virtual road according to the target image includes: determining, according to the target image, an image within a preset range in the forward direction of the target vehicle step; and generating the first location information according to an image within the preset range.

In a possible implementation manner, the system further comprises a target vehicle, wherein the target vehicle is configured to drive on the virtual road according to at least the first location information.

In a possible implementation manner, the first location information includes an image in which the target vehicle is offset from a lane centerline in the virtual road or within a preset range in a target vehicle forward direction.

In a possible implementation manner, the target vehicle is configured to: determine a driving path of the target vehicle according to the offset; and determine the driving path of the target vehicle according to an image within a preset range in the forward direction of the target vehicle.

An embodiment of the present invention provides a vehicle control method, the vehicle control method comprising: receiving first position information of the target vehicle transmitted by a vehicle positioning system; determining, by the target vehicle, a driving route on a virtual road according to the first location information; and controlling the target vehicle to drive according to the driving route.

In a possible implementation manner, the step of determining, according to the first location information, a driving route of the target vehicle on the virtual road, includes, according to the first location information, an offset of the target vehicle with a lane centerline on the virtual road. determining; and determining a driving path of the target vehicle according to the offset.

In a possible implementation manner, according to the first location information, the step of determining the driving route of the target vehicle on the virtual road includes: according to the first location information, an image within a preset range in the forward direction of the target vehicle. determining; and determining a driving route of the target vehicle according to the image within the preset range.

In a possible implementation manner, the vehicle control method includes: receiving a vehicle control command sent by the vehicle positioning system; and controlling driving of the target vehicle according to the vehicle control command.

In a possible implementation manner, the vehicle control method includes: receiving second position information of an obstacle transmitted by a vehicle positioning system; determining, by the target vehicle, a driving route on a virtual road according to the first location information and the second location information; and controlling the target vehicle to drive according to the driving route.

An embodiment of the present invention provides a vehicle positioning method, wherein the vehicle positioning method includes the steps of: determining first location information of a target vehicle on a virtual road according to a target image, wherein the virtual road is displayed by a virtual road display device and the target image is an image in which the target vehicle is driven on the virtual road obtained by an image acquisition device; and sending the first location information to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the first location information.

In a possible implementation manner, the vehicle positioning method includes: acquiring second position information of an obstacle according to the target image; and sending the second location information to the target vehicle, thereby causing the target vehicle to drive on the road pattern according to the first location information and the second location information.

In a possible implementation manner, the vehicle positioning method includes: acquiring a place image for displaying a virtual road place through the virtual road display device; obtaining, according to the place image, place information, wherein the place information includes a size of the place; and determining the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle.

In a possible implementation manner, the vehicle positioning method includes: obtaining place information and a size of a target vehicle; and determining the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle, and transmitting to the virtual road display apparatus.

In a possible implementation manner, the vehicle positioning method includes: generating a vehicle control command according to at least the first position information; and sending the vehicle control command to the target vehicle, thereby causing the target vehicle to drive on the road pattern according to the vehicle control command.

In a possible implementation manner, the determining of the first location information of the target vehicle on the virtual road according to the target image includes: determining, according to the target image, the offset of the target vehicle with a lane centerline on the virtual road; ; and generating the first location information according to the offset.

In a possible implementation manner, the determining of the first location information of the target vehicle on the road according to the target image includes: determining, according to the target image, an image within a preset range in the forward direction of the target vehicle; and generating the first location information according to an image within the preset range.

An embodiment of the present invention provides a vehicle control apparatus, comprising: a first receiving module configured to receive first position information of the target vehicle transmitted by a vehicle positioning system; a first determining module, configured to determine, according to the first location information, a driving route of the target vehicle on the virtual road; and a first driving module configured to control the target vehicle to travel according to the driving route.

An embodiment of the present invention provides a vehicle positioning device, wherein the vehicle positioning device includes a third determining module, configured to determine first location information of a target vehicle on a virtual road according to a target image, wherein the virtual road displays a virtual road a road displayed by the device, and the target image is an image of the target vehicle driving on the virtual road acquired by the image acquisition device; and a transmitting module, configured to transmit the first location information to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the first location information.

An embodiment of the present invention provides an electronic device, the electronic device comprising: a processor; and a memory configured to store instructions executable by the processor, wherein the processor is configured to execute the vehicle positioning method or the vehicle control method.

An embodiment of the present invention provides a computer-readable storage medium in which computer program instructions are stored, and when the computer program instructions are executed by a processor, the vehicle positioning method or the vehicle control method is implemented.

An embodiment of the present invention provides a computer program product comprising computer readable code, wherein when the computer readable code is operated in an electronic device, the processor in the electronic device is configured to be configured by a server in the one or more embodiments and executing instructions for implementing the vehicle positioning method or the vehicle control method.

According to the vehicle positioning system of the embodiment of the present invention, a virtual road can be displayed through the virtual road display device, a plurality of roads can be designed for a target vehicle, the cost of the road can be reduced, and the road installation time is also It is not necessary, and the flexibility of the road route has been improved. The processor may determine the first location information of the target vehicle according to the target image in which the target vehicle drives on the virtual road, and cause the target vehicle to determine the location on the road in real time, so as to accurately drive the target vehicle on the virtual road. By eliminating the need to record and adapt to the virtual road itself, the calculation of the target vehicle's driving process is simplified.

1 is a block diagram of a vehicle positioning system shown in accordance with an embodiment of the present invention.
2 is an exemplary diagram of a virtual road shown according to an embodiment of the present invention.
3 is a flowchart of a vehicle control method illustrated according to an embodiment of the present invention.
4 is an application diagram of a vehicle positioning system shown according to an embodiment of the present invention.
5 is a flowchart of a vehicle positioning method illustrated according to an embodiment of the present invention.
6A is a block diagram of a vehicle control apparatus shown according to an embodiment of the present invention.
6B is a block diagram of a vehicle positioning device shown according to an embodiment of the present invention.
7 is a block diagram of an electronic device according to an embodiment of the present invention.
8 is a block diagram of an electronic device according to an embodiment of the present invention.

Various exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the drawings. In the drawings, the same reference numerals indicate components having the same or similar functions. Although various aspects of the embodiments are illustrated in the drawings, they need not be drawn to scale unless specifically indicated.

As used herein, the word “exemplary” means “used as an example, embodiment, or descriptive”. Any embodiment described herein as “exemplary” is not necessarily to be construed as better or better than other embodiments. In the text, the term “and/or” is only for describing a related relationship of a related object, and indicates that three relationships exist, for example, a1 and/or b1 means that a1 exists alone, a1 and b1 exist simultaneously, and b1 exists alone. In addition, the term "at least one" in the text indicates any one in the plural or a combination of any one of at least two in the plural, for example, including at least one of a1, b1, c1, a1, b1 And it may represent that it includes any one or a plurality of elements selected from the set consisting of c1.

In addition, in order to better explain the embodiments of the present invention, numerous specific details are provided in the specific embodiments below. A person skilled in the art should understand that embodiments of the present invention may be practiced in the absence of some specific details. In some practical instances, detailed descriptions of methods, means, components, and circuits familiar to those skilled in the art are not described in order to highlight the subject matter of embodiments of the present invention.

In the related art, the road of the vehicle model is the actual road. The vehicle model adjusts the position of the vehicle model according to the position of the obstacle by determining the position on the real road in real time and determining the position of the obstacle based on the method of a sensor or computer vision. However, the actual road has the following disadvantages: 1) the economic cost of replacing the actual road is relatively high; 2) the time cost of installing the actual road is relatively high; 3) The actual road size is related to the size of the vehicle model. When replacing the vehicle model, the size of the actual road cannot be adjusted according to the size of the vehicle model. As can be seen from this, the size flexibility of the actual road in the related technology is insufficient, and the spread of the vehicle model type race is somewhat limited. For example, in an education project, one vehicle model must combine a plurality of different roads, thereby increasing the economic burden of the education project.

1 is a block diagram of a vehicle positioning system shown in accordance with an embodiment of the present invention, and as shown in FIG. 1 , the vehicle positioning system includes a virtual road display device 11, an image acquisition device 12 and a processor. (13), wherein the virtual road display device (11) is configured to display the virtual road; the image acquisition device 12 is located above the virtual road, and is configured to acquire a target image while the target vehicle travels on the virtual road; The processor 13 is connected to or built into the image acquisition device, and determines the first location information of the target vehicle on the virtual road according to the target image; and transmit the first location information to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the first location information.

According to the vehicle positioning system of the embodiment of the present invention, a virtual road can be displayed through the virtual road display device, a plurality of roads can be designed for a target vehicle, the cost of the road can be reduced, and the road installation time is also It is not necessary, and the flexibility of the road route is improved. The processor may determine the first location information of the target vehicle according to the target image in which the target vehicle drives on the virtual road, and cause the target vehicle to determine the location on the road in real time, so as to accurately drive the target vehicle on the virtual road. By eliminating the need to record and adapt to the virtual road itself, the calculation of the target vehicle's driving process is simplified.

In a possible implementation manner, the processor 13 is a single-chip microcomputer, a Digital Signal Processor (DSP), a Field-Programmable Gate Array (FPGA), a Central Processing Unit (CPU), and a Central Processing Unit (CPU). ), a graphics processing unit (GPU), etc., and the embodiment of the present invention is not limited to the type of the vehicle controller.

In a possible implementation manner, the virtual road display device 11 may display a pattern of the virtual road. For example, the virtual road display device 11 may be a display device and may display a pattern of the virtual road. For example, the virtual road display apparatus 11 includes an AR (Augmented Reality, augmented reality) device, and the augmented reality device is configured to display a virtual road in an augmented reality AR interface. For another example, the virtual road display device 11 includes a projection device, wherein the projection device is configured to project a pattern of the virtual road. The projection device may include a projector, or may include a projector and a projection plane, wherein the projector is configured to project the pattern of the virtual road onto the projection plane. For example, the projector may store a pattern of a virtual road, and the projection plane may be a projection screen or a real place, and may be for displaying a pattern projected by the projector, that is, a pattern of a virtual road.

2 is an exemplary view of a virtual road shown according to an embodiment of the present invention, and as shown in FIG. 2 , the virtual road display device 11 may display the road 20 on the exhibition plane, for example For example, in FIG. 2 , the virtual road may be a pattern of a virtual road projected on a projection plane by a projector, and a target vehicle may be driven on the virtual road.

In a possible implementation manner, the virtual road display device 11 is further configured to determine, according to the size of the target vehicle, the size of the virtual road, the size of the target vehicle includes a width of the target vehicle, and the size of the virtual road is Include the width of the road. In an example, if the target vehicle is a vehicle model and the width is 20 cm, the virtual road display apparatus 11 may adaptively determine the width of the road according to the width of the target vehicle, for example, the virtual road is It may be a two-lane road, and the width of each lane may be greater than the width of the target vehicle. For example, if 30 cm, the width of the virtual road is 60 cm. Embodiments of the present invention do not limit the width of the target vehicle and the width of the virtual road.

In a possible implementation manner, the size of the target vehicle may further include a length of the target vehicle, and the size of the virtual road may further include a turning radius of a corner in the virtual road, for example, if the length of the target vehicle is If is relatively long and the turning radius of a corner in the virtual road is relatively small, the target vehicle may not pass the corner, so the virtual road display device 11 sets the corner turning radius according to the length of the target vehicle, Allow the target vehicle to go through the corner. The size of the target vehicle may further include the height of the target vehicle, the size of the virtual road may further include the total length of the virtual road, and the like, and an embodiment of the present invention depends on the size of the target vehicle and the size of the virtual road. not limited to

In a possible implementation manner, the virtual road display device 11 acquires a place image for displaying the virtual road place; according to the place image, obtain place information, wherein the place information includes a size of the place; and determine the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle.

In a possible implementation manner, the image acquisition device 12 may take a location image and send it to the virtual road display device 11 , or the user may input the location image or location information into the virtual road display device 11 . have. After acquiring the place image or place information, the virtual road display device 11 may obtain the place information, for example, using the size of the place as the basis of the scale of the virtual road, if the size of the place is relatively large, For example, a relatively large-scale virtual road may be used, such as a virtual road in which the road route is relatively complex and/or the total route length is relatively long. Conversely, a relatively small-scale virtual road can be used.

In a possible implementation manner, the virtual road display apparatus 11 may determine the size and pattern of the virtual road according to the location information and the size of the target vehicle. For example, the width of the target vehicle may be used as a basis for the road width, and after the road width is determined, a pattern of a virtual road may be selected according to the size of the place, for example, if the width of the road is relatively large, When the size is relatively small, the pattern is relatively simple, and only a relatively small virtual road can be used. The pattern of the virtual road may be one automatically generated by the virtual road display device 11 or the processor 13 according to the location information, or it may be a template form pre-stored in the virtual road display device 11, or the virtual road display device 11 The device 11 or the processor 13 may be automatically generated according to self-defined information input by the user (eg, n corners, k obstacles, etc.).

In a possible implementation manner, the processing of determining the size and pattern of the virtual road may be completed by the processor 13, and the processor 13 also obtains place information and the size of the target vehicle; and determine the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle, and transmit to the virtual road display device. The method in which the processor 13 determines the size and pattern of the virtual road may be the same as that of the virtual road display apparatus 11, and is not repeated any more.

In this way, the size of the virtual road and the size of the target vehicle can be adapted to each other, and if the target vehicle is changed, the size of the virtual road can be easily adjusted, there is no need to purchase again or create a new road. , reducing the cost, and improving the usability of the virtual road.

In a possible implementation manner, the image acquisition device 12 may include a camera, wherein the camera is located above the virtual road, and can take a picture of the virtual road, and when the target vehicle is driving on the virtual road, the camera is A target image of a vehicle driving on a virtual road may be captured. Here, the image acquisition device 12 and the virtual road display device 11 do not cover each other. For example, the display plane of the virtual road display apparatus 11 may be a horizontal plane, and the camera may be positioned above the exhibition plane, and may photograph the complete virtual road. Also for example, the virtual road display device 11 may include a projector and a projection plane, and the camera may be installed in the vicinity of the projector, and may photograph a complete virtual road projected on the projection plane by the projector. The embodiment of the present invention is not limited to the position where the image acquisition device 12 is located.

In a possible implementation manner, the processor 13 may be interconnected with the camera 12 , or the processor 13 may be built into the camera 12 , when a target image is captured by the camera 12 , The processor 13 may acquire the target image and process the target image. For example, the processor 13 may detect a target vehicle from the target image through a detection method such as a neural network, and determine first location information of the target vehicle on a virtual road. In an example, the first location information may include, for example, a starting point location of the target vehicle on the virtual road, a first corner location of the target vehicle on the virtual road, a second location of the target vehicle on the virtual road, and a location of the target vehicle on the virtual road. It may be a relative position of a route of a target vehicle and a virtual road, such as an end point position in a virtual road, and the embodiment of the present invention is not limited to the first location information. In another example, the first location information includes relative location information, such as an offset between the target vehicle and a lane centerline, or an image of a preset range (for example, within 2 meters) in the forward direction of the target vehicle (the target vehicle may be included). etc. may be image information.

In a possible implementation manner, the processor 13 may determine the first location information of the target vehicle on the virtual road according to the target image, the step comprising: according to the target image, the target vehicle determining an offset from a lane centerline on the road; and generating the first location information according to the offset.

In a possible implementation manner, the processor 13 may use the first location information to cause the target vehicle to drive in the lane of the virtual road. For example, the target vehicle may drive forward, and if a corner appears on the virtual road, the target vehicle deviates from the lane of the virtual road, that is, if the target vehicle drives forward along a straight line, it is within the lane. cannot be maintained, and the processor 13 can calculate and obtain first position information according to the positional relationship between the target vehicle and the lane center line in the target image, that is, the target vehicle center is an offset with respect to the lane center line, and the second 1 By sending the location information to the target vehicle, the target vehicle calculates the traveling direction, traveling speed, or traveling route, etc. according to the offset, and controls the target vehicle traveling, thereby causing the target vehicle to continue driving within the lane .

In a possible implementation manner, the processor 13 may determine the first location information of the target vehicle on the virtual road according to the target image, the step comprising: according to the target image, in the forward direction of the target vehicle determining an image within a preset range; and generating the first location information according to an image within the preset range.

In a possible implementation manner, the processor 13 uses the first location information to cause the target vehicle to drive along the lane of the virtual road. Here, the first location information may indicate a location image of the target vehicle on a virtual road, and for example, the processor 13 may generate an image (for example, within 3 meters) of a preset range (for example, within 3 meters) in the forward direction of the target vehicle. For example, including at least a partial image of the target vehicle) is used as the first location information and transmitted to the target vehicle. After receiving the image within the preset range, the target vehicle may perform route planning according to the image and control the target vehicle to drive according to the planned route, that is, drive along the lane of the virtual road.

In a possible implementation manner, the first location information may include a vehicle control command directly, for example, a vehicle control command including the next location information of the vehicle. For example, the processor 13 positions the target vehicle position according to the target image acquired in real time, and then calculates the relative position offset of the target vehicle on the virtual road according to the virtual road pattern, so as to directly execute the vehicle control command. For example, a command of at least one piece of information in the vehicle forward direction, speed, route, and next location information is included, and the command is transmitted to the target vehicle, and the target vehicle is driven on the virtual road according to the command. let it drive

In another implementation manner, the information returned by the processor 13 to the target vehicle may be freely combined according to the situation and actual demand of the target vehicle. In a possible implementation manner, the system further comprises a target vehicle, wherein the target vehicle is configured to drive on a virtual road according to at least the first location information. For example, the first location information includes an offset between the target vehicle and a lane centerline or an image within a preset range in a forward direction of the target vehicle, and the target vehicle may generate a control command according to the first location information, Control the target vehicle to drive within the lane of the virtual road.

In a possible implementation manner, the target vehicle is configured to: determine a driving path of the target vehicle according to the offset; and determine the driving path of the target vehicle according to an image within a preset range in the forward direction of the target vehicle.

In a possible implementation manner, the target vehicle may determine a driving path of the target vehicle according to an offset between the target vehicle and a lane centerline, for example, the target vehicle calculates a driving direction, a driving speed or a driving route according to the offset. That is, the target vehicle reduces the offset through steering, etc., and keeps the body of the target vehicle within the lane.

In a possible implementation manner, the target vehicle determines a driving route according to an image within a preset range in the target vehicle forward direction, for example, the target vehicle performs route planning according to a pattern of a virtual road in the image, Make the path of the target vehicle match the pattern of the virtual road, that is, cause the target vehicle to drive on the virtual road.

In a possible implementation manner, an obstacle may be installed in a virtual road, for example, an obstacle may be placed on an exhibition plane, or a pattern of an obstacle may be installed in a pattern of the virtual road. The processor 13 may detect the position of the obstacle and transmit it to the target vehicle, and cause the target vehicle to avoid the obstacle.

In a possible implementation manner, the processor 13 is further configured to obtain second position information of the obstacle according to the target image; and transmit the second location information to the target vehicle 21 to cause the target vehicle 21 to drive on the virtual road according to the first location information and the second location information.

In a possible implementation manner, the second location information may be location coordinates of the obstacle on the virtual road, the first location information may be location coordinates of the target vehicle on the virtual road, and the target vehicle includes the first location information and the second location information. 2 After receiving the location information, it is possible to position the relative positional relationship between the target vehicle and the obstacle according to the first location information and the second location information, thereby generating a control command, for example, generating an avoidance route and control the target vehicle to drive along the avoidance route, and make the target vehicle avoid obstacles and drive within the lane of the virtual road. Through this method, by allowing the target vehicle to acquire the target image and the position of the detectable obstacle in real time, the obstacle avoidance ability is provided and the performance of the target vehicle is improved.

In a possible implementation manner, the second location information of the obstacle is, for example, the obstacle in the first corner position of the virtual road, the obstacle is in the second path position of the virtual road, etc. of the route of the obstacle and the virtual road. It may be a relative position. In addition, the second position information of the obstacle may further include information on the lane where the obstacle is located and information on the size of the obstacle, or the second position information of the obstacle may be a direct relative position between the target vehicle and the obstacle. The target vehicle may position the obstacle position using the second position information, thereby controlling the target vehicle to avoid the obstacle.

In a possible implementation manner, the processor 13 may detect an obstacle in the target image through a detection method, such as a neural network, and determine second position information of the obstacle, in some embodiments of the present invention, the second position information can be transmitted to the target vehicle. The vehicle controller of the target vehicle may receive the second location information, determine a driving route according to the first location information and the second location information, and drive according to the driving route. In an example, when the target vehicle is far away from the obstacle, the vehicle controller may determine the driving route according to the first location information, for example, the target vehicle may determine the driving route on the virtual road according to the route of the virtual road. When the obstacle is approached, the driving route may be determined according to the second location information. For example, if the virtual road has a second lane, and the obstacle is located in one of the lanes, the vehicle controller moves to the target vehicle. A driving path may be determined that causes the target vehicle to drive in another lane to avoid obstacles, avoid the obstacles, and then cause the target vehicle to drive back to the original lane, and if the target vehicle drives along this path, the obstacles in the other lanes may be determined. can be avoided

In another example, the vehicle controller may determine the driving route according to the first location information and the second location information at the same time, for example, the virtual road may have a fork in the road, where the fork is two or a plurality of roads. may include, wherein the obstacle is installed on one of the roads, the vehicle controller may determine a road on which the obstacle is located according to the second location information, determine a driving route avoiding the road, and according to the first location information A driving path that enters another road is determined, and when the target vehicle drives along this path, it avoids obstacles on the road with obstacles and can select and drive on a road without obstacles. Embodiments of the present invention do not limit the method of determining the driving route.

In a possible implementation manner, the processing of controlling the target vehicle may be executed by the processor 13 , that is, the processor 13 controls the target vehicle according to the first location information, or the first location information and the second location information, etc. so you can drive The processor 13 is further configured to generate a vehicle control command according to at least the first location information; and send the vehicle control command to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the vehicle control command. In an example, the processor 13 may calculate the offset of the target vehicle from the center line of the lane on the virtual road, determine the driving path of the target vehicle according to the offset, and generate a vehicle control command for controlling the target vehicle. By being there, the target vehicle is controlled to drive within the lane according to the driving direction. In an example, the processor 13 may plan a route within a preset distance in the target vehicle forward direction according to an image within a preset range in the target vehicle forward direction, and cause the target vehicle to drive along the route. By generating a vehicle control command, the target vehicle is controlled to drive within a lane according to the route. In an example, the processor 13 may determine the second location information of the obstacle, and generate a vehicle control command according to the first location information and the second location information, thereby controlling the target vehicle to avoid the obstacle and avoiding the obstacle. drive within The embodiment of the present invention does not limit the manner in which the processor 13 controls the target vehicle.

An embodiment of the present invention further provides a vehicle control method, the execution subject of the vehicle control method may be, for example, a vehicle control device such as a terminal, a remote control device, a server, a smart compact car, and the like, and the vehicle control method includes A processor may be executed in a way that runs computer-executable code.

3 is a flowchart of a vehicle control method shown according to an embodiment of the present invention, and as shown in FIG. 3 , the vehicle control method is applied to a vehicle controller, the vehicle controller may be installed in a target vehicle, and A remote connection to the vehicle is also possible (eg via wired or wireless connection). The vehicle control method includes the following steps.

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

In step S12, according to the first location information, the target vehicle determines a driving route on the virtual road.

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

Here, the vehicle positioning system may refer to the vehicle positioning system described in the embodiment of the present invention, which will not be repeated any longer.

In a possible implementation manner, the vehicle controller may be a single-chip microcomputer, DSP, FPGA, CPU, or the like, an operation element, and the embodiment of the present invention is not limited to the type of the vehicle controller.

In a possible implementation manner, in step S11, the target vehicle may receive the first location information transmitted by the vehicle positioning system.

In a possible implementation manner, in step S12, the target vehicle may determine a driving route according to the first location information.

In an example, the first location information includes an offset between the target vehicle and a lane centerline, and step S12 includes: determining, according to the first location information, an offset of the target vehicle from the lane centerline on the virtual road; and determining a driving path of the target vehicle according to the offset. For example, the vehicle controller may obtain the offset according to the first position information, determine the degree of left or right turn of the target vehicle according to the lane offset, and perform corresponding control, for example, through steering It can control the target vehicle to drive in a direction to reduce the offset, to keep the target vehicle within the lane, or directly determine the driving path of the target vehicle.

In an example, the first location information includes an image within a preset range in a forward direction of the target vehicle, and in step S12, according to the first location information, for example, the virtual road is preset in the forward direction of the target vehicle. determining an image within a preset range in a target vehicle forward direction, such as a line within a distance; and determining the driving route of the target vehicle according to the image within the preset range. For example, the target vehicle performs route planning according to the pattern of the virtual road in the image, and causes the route of the target vehicle to match the pattern of the virtual road, that is, causes the target vehicle to drive on the virtual road.

In a possible implementation manner, in step S13, the target vehicle may be driven according to the travel route, for example, the vehicle controller may control the power system and the steering system of the target vehicle, and cause the target vehicle to travel along the travel route. , and for example, when driving along a left-turn driving route, the target vehicle may pass through the left-turn corner.

In a possible implementation manner, the vehicle control method includes: receiving second position information of an obstacle transmitted by a vehicle positioning system; determining, by the target vehicle, a driving route on a virtual road according to the first location information and the second location information; and controlling the target vehicle to drive according to the driving route.

In an example, the vehicle controller may determine a driving path of the target vehicle according to the first position information and the second position information of the obstacle, and determines a driving path capable of avoiding the obstacle and driving within a lane free of obstacles. Control the power system and the steering system of the target vehicle to cause the target vehicle to travel according to the driving route.

In a possible implementation manner, the vehicle control method includes: receiving a vehicle control command sent by the vehicle positioning system; and controlling driving of the target vehicle according to the vehicle control command. For example, in order to travel along the driving route, the target vehicle only needs to receive remote control of the processor 13 in the vehicle positioning system.

According to the vehicle positioning system of the embodiment of the present invention, a virtual road may be displayed through the virtual road display device, a plurality of roads may be designed for a target vehicle, and the size of the virtual road and the size of the target vehicle may be set to each other. It can be adapted, and if the target vehicle is changed, the size of the virtual road can be easily adjusted, there is no need to buy again or create a new road, the cost of the road can be lowered, and the flexibility of the road route can be improved. The processor may determine first location information of the target vehicle according to the target image in which the target vehicle drives on the virtual road, and cause the target vehicle to determine the location on the road in real time, so as to accurately drive on the virtual road, and second The performance of the target vehicle can be improved by allowing the target vehicle to have the ability to avoid obstacles through the location information. In addition, the target vehicle itself does not need to record and adapt to the virtual road, thereby simplifying the calculation of the target vehicle driving process.

4 is an application diagram of a vehicle positioning system shown in accordance with an embodiment of the present invention, and as shown in FIG. 4 , the vehicle positioning system may include a virtual road display device, an image acquisition device, and a processor, where , the virtual road display device includes a projector, the projector may store a pattern of the virtual road, the projection plane may be a projection screen or a real place, and may be for displaying the pattern of the virtual road projected by the projector . In some embodiments of the present invention, by adjusting the distance between the projector and the projection plane, the size of the virtual road is adjusted, and the width of the virtual road and the width of the target vehicle are adapted to each other. For example, the width of the target vehicle is 20 cm, the virtual road may be a two-lane road, the width of each lane may be greater than the width of the target vehicle, for example, the width of each lane is 30 cm, the virtual road is 60 cm wide.

In a possible implementation manner, the image acquisition device may include a camera, may be installed under or adjacent to the projector, may take an image of a complete virtual road, and be positioned so as not to obscure each other with the projector. When the target vehicle is driving on the virtual road, the camera may shoot a target image of the target vehicle driving on the virtual road in real time, and send the target image to the processor, and the processor according to the target image, for example, the target vehicle In this virtual road, the target vehicle, such as an offset from the lane centerline or an image within a preset range in the target vehicle forward direction, may determine in real time the first location information on the virtual road, and transmit it to the target vehicle in real time, and the target vehicle to determine a driving route in real time using the first location information.

In a possible implementation manner, the processor detects the target vehicle in the target image through a detection method such as a neural network, for example, a first position of the target vehicle in the virtual road, such as the relative position of the route of the target vehicle and the virtual road. information may be determined, and the vehicle controller of the target vehicle may determine, according to the relative position, a route of the virtual road, and determine a driving route of the target vehicle, for example, a corner position of the target vehicle in the virtual road; That is, if the route of the virtual road is the route of the corner, it is determined that the driving route of the vehicle is the route of the corner. In some embodiments of the present invention, the vehicle controller may control a power system and a steering system of the target vehicle, and cause the target vehicle to travel along a driving path, for example, to turn a corner according to the driving path. can pass

In a possible implementation manner, an obstacle may be installed in a virtual road, for example, an obstacle may be placed on an exhibition plane, or a pattern of an obstacle may be installed in a pattern of the virtual road. The processor may detect first location information of the target vehicle and second location information of the obstacle from the target image, and transmit the first location information and the second location information to a vehicle controller of the target vehicle, wherein the vehicle controller is configured to use the first location information According to the information and the second location information, a driving path capable of avoiding the obstacle may be determined.

In an example, the virtual road may have two lanes, the obstacle may be installed in one lane of the virtual road, and when the vehicle controller determines that the target vehicle is far away from the obstacle according to the second location information, the vehicle the controller may drive along the lane according to the first location information, and when the vehicle controller determines that the target vehicle approaches the obstacle according to the second location information, the controller may drive in another lane to avoid the target vehicle obstacle, , after avoiding the obstacle, the target vehicle can drive back to the original lane. In another example, the virtual road may have a fork in the road, the fork may include two or a plurality of roads, the obstacle is installed on one of the roads, and the vehicle controller determines the obstacle according to the second location information. The road on which this is located is determined, and the other road is driven according to the first location information in order to avoid the obstacle.

In a possible implementation manner, the vehicle positioning system may be for a field such as a vehicle model competition or education, it can save time and cost to install a road, and the target vehicle itself does not need to record and adapt the virtual road Thus, calculations in the process of driving the target vehicle are simplified. The embodiment of the present invention is not limited to the field of application of the vehicle positioning system.

5 is a flowchart of a vehicle positioning method illustrated according to an embodiment of the present invention, wherein the execution entity of the vehicle positioning method is, for example, a vehicle positioning system of an embodiment of the present invention, or a processor in the vehicle positioning system, or a terminal; It may be a vehicle positioning device such as a remote control device, a server, or the like, and the vehicle positioning method may be executed through a method in which a processor operates computer-executable code.

As shown in Figure 5, the vehicle positioning method,

In step S21, the target vehicle determines first location information on the virtual road according to the target image, wherein the virtual road is a road displayed by a virtual road display device, and the target image is the target image acquired by an image acquisition device It is an image of a target vehicle driving on the virtual road.

In step S22, by transmitting the first location information to the target vehicle, the target vehicle is caused to travel on the virtual road according to the first location information.

In a possible implementation manner, the vehicle positioning method includes: acquiring second position information of an obstacle according to the target image; and sending the second location information to the target vehicle, thereby causing the target vehicle to drive on the road pattern according to the first location information and the second location information.

In a possible implementation manner, the vehicle positioning method includes: acquiring a place image for displaying a virtual road place through the virtual road display device; obtaining, according to the place image, place information, wherein the place information includes a size of the place; and determining the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle.

In a possible implementation manner, the vehicle positioning method includes: obtaining place information and a size of a target vehicle; and determining the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle, and transmitting to the virtual road display apparatus.

In a possible implementation manner, the vehicle positioning method includes: generating a vehicle control command according to at least the first position information; and sending the vehicle control command to the target vehicle, thereby causing the target vehicle to drive on the road pattern according to the vehicle control command.

In a possible implementation manner, the determining of the first location information of the target vehicle on the virtual road according to the target image includes: determining, according to the target image, the offset of the target vehicle with a lane centerline on the virtual road; ; and generating the first location information according to the offset.

In a possible implementation manner, the determining of the first location information of the target vehicle on the road according to the target image includes: determining, according to the target image, an image within a preset range in the forward direction of the target vehicle; and generating the first location information according to an image within the preset range.

An embodiment of the present invention provides a vehicle positioning method and is applied to a vehicle positioning system, wherein the vehicle positioning system includes a projector, a camera and a processor, and describes a case where the target vehicle is a small car as an example, the vehicle positioning The method includes, in step S31, projecting a pattern of a virtual road on a projection plane; Here, the projector and the projection plane must cooperate to project onto the pattern of the virtual road. Here, Fig. 2 shows a projected virtual road pattern.

In step S41, the pattern of the virtual road and the small car on the virtual road are captured by the camera.

Here, after the pattern of the virtual road and the small car on the virtual road are captured by the camera, the processor may position the global position of the small car and the position of the obstacle according to the pattern of the virtual road and the small car captured by the camera. have. The processor may calculate the relative position offset of the small car on the virtual road according to the pattern of the virtual road, and directly generate a control command for the small vehicle.

In step S51, the compact car performs feedback adjustment according to the received position information. According to the pattern of the virtual road and the small car on the virtual road, the embodiment of the present invention positions the global position of the small car and the position of the obstacle, and implements accurate detection of the obstacle and prediction of the relative position of the small car and the virtual road, By transmitting the detection information and the prediction information to the small vehicle in real time, the small vehicle can adjust the driving route in real time according to the detection information and the prediction information.

A usage scenario of an embodiment of the present invention may be one of the following. 1) When starting small car development. 2) When you do not have enough funds to purchase the real platform. 3) When it is necessary to develop a road that matches a small car of a different size and a small car of a different size at the same time.

An embodiment of the present invention uses a computer vision detection algorithm to perform position prediction; Based on the global positioning and operating platform of real-time information, lowering the time and economic cost of installing roads, improving road flexibility and change convenience; The projector and the projection plane cooperate, ensuring that the projector can automatically adjust according to the size of the projection plane and the size of the small car, and project a reasonable road pattern; The camera can acquire the global position of the small car, and includes information of the obstacle; Cameras and small cars can communicate in real time; Computer vision algorithms can complete accurate obstacle detection and prediction of the relative position of small cars and virtual roads.

Through this method, the economic and time cost of the road can be lowered, the flexibility is strong, and it is convenient for the dissemination of small cars; At the same time, better use the computer vision algorithm to perform position prediction, so that the small car can adjust the driving route in real time according to the detection information and the prediction information; In addition, by enriching the variety of roads, the development possibilities of compact cars have been improved.

6A is a block diagram of a vehicle control apparatus 100 illustrated according to an embodiment of the present invention, and as illustrated in FIG. 6A , the illustrated vehicle control apparatus 100 is transmitted by a vehicle positioning system. a first receiving module 11, configured to receive first location information of the target vehicle; a first determining module (12), configured to determine, according to the first location information, a driving route of the target vehicle on the virtual road; and a first driving module 13 configured to control the target vehicle to travel according to the driving route.

In a possible implementation manner, the first determining module is further configured to: determine, according to the first location information, an offset of a target vehicle with a lane centerline in the virtual road; and determine, according to the offset, a travel path of the target vehicle.

In a possible implementation manner, the first determining module is further configured to: determine, according to the first position information, an image within a preset range in the forward direction of the target vehicle; and determine a travel route of the target vehicle according to the image within the preset range.

In a possible implementation manner, the vehicle control device includes: a second receiving module configured to receive a vehicle control command transmitted by the vehicle positioning system; and a control module configured to control driving of the target vehicle according to the vehicle control command.

In a possible implementation manner, the vehicle control device includes: a third receiving module, configured to receive second position information of the obstacle transmitted by the vehicle positioning system; a second determining module, configured to determine a driving route of the target vehicle on a virtual road according to the first location information and the second location information; and a second driving module configured to control the target vehicle to travel according to the driving route.

6B is a block diagram of a vehicle positioning apparatus 200 illustrated in accordance with an embodiment of the present invention, and as shown in FIG. 6B , the vehicle positioning apparatus 200 is configured such that a target vehicle is moved on a virtual road according to a target image. a third determining module 21, configured to determine the first location information of the virtual road, wherein the virtual road is a road displayed by a virtual road display device, and the target image is that the target vehicle acquired by the image acquisition device is the virtual road This is an image of driving in - ; and a first transmitting module 22, configured to transmit the first location information to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the first location information.

In a possible implementation manner, the vehicle positioning device includes: a first acquiring module, configured to acquire second position information of an obstacle according to the target image; and a second transmitting module, configured to transmit the second location information to the target vehicle, thereby causing the target vehicle to drive on the road pattern according to the first location information and the second location information.

In a possible implementation manner, the vehicle positioning device includes: a second acquiring module, configured to acquire a venue image for displaying a virtual road venue through the virtual road display device; a third acquiring module, configured to acquire, according to the place image, place information, wherein the place information includes a size of the place; and a fourth determining module, configured to determine the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle.

In a possible implementation manner, the vehicle positioning apparatus includes: a fourth obtaining module, configured to obtain place information and a size of a target vehicle; and a fifth determining module, configured to determine the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle, and transmit to the virtual road display apparatus.

In a possible implementation manner, the vehicle positioning device includes: a generating module configured to generate a vehicle control command according to at least the first position information; and a third sending module, configured to transmit the vehicle control command to the target vehicle, thereby causing the target vehicle to drive on the road pattern according to the vehicle control command.

In a possible implementation manner, the third determining module is further configured to: determine, according to the target image, an offset of the target vehicle with a lane centerline in the virtual road; and generate the first location information according to the offset.

In a possible implementation manner, the third determining module is further configured to: determine, according to the target image, an image within a preset range in the target vehicle forward direction; and generate the first location information according to the image within the preset range.

It can be understood that each of the above methods mentioned in the embodiment of the present invention can be mutually combined with each other to form a combined embodiment, as long as the principle and logic are not violated, and with the limitation of the width, the present invention It will not be repeated any more in the embodiment of .

A person skilled in the art will know that in the vehicle positioning method or vehicle control method of the specific embodiment, the recording order of each step does not imply a strict execution order, but constitutes any limitation on the implementation process, and the specific execution order of each step is It is understood that it is determined by its function and possible internal logic. In some embodiments, a function possessed by an apparatus provided in an embodiment of the present invention or a module including a module may be configured to execute the method described in the above-described method embodiment, the specific implementation of which is described in the above-described method embodiment. , which, for the sake of brevity, is not further repeated here.

An embodiment of the present invention further provides a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the vehicle positioning method or the vehicle control method is implemented. The computer-readable storage medium may be a non-volatile computer-readable storage medium.

An embodiment of the present invention further provides a computer program product comprising computer readable code, wherein when the computer readable code is operated in the device, the processor in the device is configured to: Executes a command to implement a vehicle control method.

An embodiment of the present invention further provides another computer program product for storing computer-readable instructions, and when the instruction is executed, causes the computer to execute the operation of the vehicle positioning method or the vehicle control method provided in the one embodiment above. let it do

A computer program product may be implemented through hardware, software, or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, for example a Software Development Kit (SDK) or the like. do.

An embodiment of the present invention further provides an electronic device, the electronic device comprising: a processor; and a memory for storing instructions executable by the processor; Here, the memory is configured to perform the vehicle positioning method or the vehicle control method. The electronic device may be provided as a terminal, server, or other type of device. Fig. 7 is a block diagram of 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 message transmitting/receiving device, a game console, a tablet device, a medical device, a fitness device, or a personal portable terminal. Referring to FIG. 7 , the electronic device 800 includes a processing component 802 , a memory 804 , a power component 806 , a multimedia component 808 , an audio component 810 , and input/output (I/O) one or more of an interface 812 , a sensor component 814 , and a communication component 816 . The processing component 802 generally controls the overall operation of the electronic device 800 , such as operations related to displays, phone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or a plurality of processors 820 executing instructions to complete all or some steps of the target tracking method. Further, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module for easy interaction between multimedia component 808 and processing component 802 . The memory 804 is configured to store various types of data to support the operation of the electronic device 800 . Examples of such data include instructions, contact data, phone book data, messages, images, videos, and the like of any application program or method for operation on the electronic device 800 . Memory 804 includes: Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Electrical Programmable Read Only Memory (EPROM), Erasable and Programmable Memory any type of volatile or nonvolatile memory, such as programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, diskette or CD It may be implemented by a volatile storage device or a combination thereof. Power component 806 provides power to various components of electronic device 800 . Power component 806 may include a power management system, one or more power sources, and other components related to generating, managing, and distributing power for electronic device 800 . The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive a signal input by a user. The touch panel includes one or a plurality of touch sensors to detect touch, swipe and gestures on the touch panel. The touch sensor may not only detect the bounds of a touch or swipe action, but may also detect a duration and pressure associated with the touch or swipe action. In some embodiments, multimedia component 808 includes a front camera and/or a rear camera. When the electronic device 800 is in an operation mode such as a photographing mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front camera and rear camera may be a single fixed optical lens system or may have focal length and optical zoom functions. The audio component 810 is configured to output and/or input an audio signal. For example, the audio component 810 includes one microphone (MIC), and when the electronic device 800 is in an operation mode such as a call mode, a recording mode, and a voice recognition mode, the microphone receives an external audio signal. configured to receive. The received audio signal may be stored in memory 804 or transmitted via communication component 816 . In some embodiments, the audio component 810 further comprises one speaker configured to output an audio signal. An input/output (I/O) interface 812 provides an interface between the processing component 802 and a peripheral interface module, which may be a keyboard, click wheel, button, or the like. Such buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button. The sensor component 814 includes one or a plurality of sensors configured to provide the electronic device 800 with various aspects of status assessment. For example, the sensor component 814 may detect an on/off state of the electronic device 800 , a relative position of the component, for example, the component is a monitor and a keypad of the electronic device 800 , and a sensor The component 814 is the electronic device 800 or a change in the position of one component in the electronic device 800, the presence or absence of contact between the user and the electronic device 800, the direction or acceleration/deceleration of the electronic device 800, and the electronic device ( 800) can also be detected. The sensor component 814 may include a proximity sensor configured to detect the presence of a surrounding object in the absence of any physical contact. The sensor component 814 may further include an optical sensor configured for use in an imaging application, such as a complementary metal oxide semiconductor (CMOS) or charge coupled device (CCD) image sensor. In some embodiments, the sensor component 814 may further include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor. The communication component 816 is configured to facilitate communication in a wired or wireless manner between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, for example, WiFi, 2G, 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system through a broadcast channel. In one demonstrative embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate near field communication. For example, the NFC module includes RFID (Radio Frequency Identification) technology, IrDA (Infrared Data Association, infrared communication standard) technology, UWB (Ultra Wide Band) technology, BT (Bluetooth, Bluetooth) technology and It may be implemented based on other technologies.

In an exemplary embodiment, the electronic device 800 includes one or a plurality of ASICs (Application Specific Integrated Circuits), DSPs (Digital Signal Processors, digital Signal Processor), DSPD (Digital Signal Processing Device), PLD (Programmable Logic Device), FPGA (Field Programmable Gate Array, Field Programmable Gate Array), Controller, Microcontroller, Microprocessor Or it may be implemented by other electronic devices.

In an exemplary embodiment, there is further provided a non-volatile computer readable storage medium, such as, for example, a memory 804 comprising computer program instructions, the computer program instructions being provided to the processor 820 of the electronic device 800 . to complete the vehicle positioning method or vehicle control method by being performed by

Fig. 8 is a block diagram of an electronic device 1900 according to an exemplary embodiment. For example, the electronic device 1900 may be provided as a server. Referring to FIG. 8 , an electronic device 1900 includes a processing component 1922 , and includes one or a plurality of processors and memory resources represented by a memory 1932 , for example processing components such as application programs. (1922) to store instructions that can be executed. The application program stored in the memory 1932 may include one or more modules corresponding to each instruction set. Further, the processing component 1922 is configured to execute the instructions to perform the method. The electronic device 1900 includes one power component 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 one input output It may further include an (I/O) interface 1958 . The electronic device 1900 may operate based on an operating system stored in the memory 1932 , for example, Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, or the like. In an exemplary embodiment, there is further provided a non-volatile computer readable storage medium, such as, for example, a memory 1932 comprising computer program instructions, the computer program instructions comprising: a processing component 1922 of an electronic device 1900 to complete the method by being carried out by

Embodiments of the present invention may be systems, methods and/or computer program products. The computer program product may include a computer readable storage medium, which has computer readable program instructions for causing a processor to implement each aspect of the embodiments of the present invention.

The computer-readable storage medium may be a tangible device capable of holding and storing instructions used by the instruction-performing device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. Examples of computer-readable storage media (non-exhaustive list) include portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory); Mechanically encoded, such as static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital video disk (DVD), memory stick, floppy disk, punch card that stores instructions, or a structure staggered in a groove. devices and any suitable combination thereof. As used herein, a computer-readable storage medium includes radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, pulses passing through fiber optic cables), or electrical signals transmitted over wires. It is not interpreted as the same instantaneous signal itself. The computer readable program instructions described herein may be downloaded from a computer readable storage medium to each computing/processing device, or via a network such as the Internet, local area network, wide area network and/or wireless network, an external computer or external storage device. can be downloaded as The network may include copper transport cables, fiber optic transport, wireless transport, routers, firewalls, exchanges, gateway computers and/or edge servers. A network adapter card or network interface of each computing/processing device receives computer readable program instructions from the network and transmits the computer readable program instructions for storage in a computer readable storage medium in each computing/processing device.

The computer program instructions for executing the embodiments of the present invention may include assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more programming languages. It may be source code or object code written in any combination, and the programming language includes an object-oriented programming language such as Smalltalk, C++, and the like, and an existing programming language such as a “C” language or a similar programming language. The computer readable program instructions may execute completely on the user's computer, partially on the user's computer, as a standalone software package, in part on the user's computer and in part on a remote computer, or completely on the remote computer or server. can be executed In situations involving remote computers, the remote computer may be connected to your computer or to an external computer via any type of network, including a local area network (LAN) or a wide area network (WAN) (e.g., using an Internet service provider). to connect via the Internet). In some embodiments, an electronic circuit such as a programmable logic circuit, a field programmable gate array (FPGA) or a programmable logic array (PLA) can be personalized using state information in computer readable program instructions, the electronic circuit may execute computer readable program instructions, thereby implementing various aspects of embodiments of the present invention.

Various aspects of embodiments of the present invention have been described herein with reference to flowcharts and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present invention. It should be understood that each block in the flowchart and/or block diagram and each combination of blocks in the flowchart and/or block diagram may all be implemented by computer readable program instructions.

Such computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing device, such that a machine is generated that causes such instructions to be executed by the processor of the computer or other programmable data processing device. A device is created that implements the functions/operations specified in one or a plurality of blocks in the flowchart and/or block diagram. Such computer readable program instructions may be stored on a computer readable storage medium, which instructions may cause a computer, programmable data processing apparatus, and/or other device to operate in a particular manner, thereby causing the computer readable instructions stored thereon. The medium includes an article of manufacture comprising instructions for implementing the functions/acts specified in one or a plurality of blocks in the flowcharts and/or block diagrams.

The computer readable program instructions may be loaded into a computer, other programmable data processing device, or other device such that a series of operational steps is performed on the computer, other programmable data processing device, or other device to create a computer-implemented process. By causing it to be executed, instructions executed on a computer, other programmable data processing device, or other device implement the functions/actions specified in one or a plurality of blocks in the flowcharts and/or block diagrams.

The flow diagrams and block diagrams in the drawings illustrate the system architectures, functions and operations that may be implemented in a plurality of systems, methods and computer program products according to embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or portion of an instruction, wherein the module, program segment or portion of the instruction is an executable instruction for implementing one or a plurality of specified logical functions. includes In some alternative implementations, the functions indicated in the blocks may occur in a different order than indicated in the figures. For example, two blocks shown in succession may actually be executed simultaneously, sometimes in reverse order depending on the function involved, which is determined by the function involved. It should also be noted that each block in the block diagrams and/or flowcharts and combinations of blocks in the block diagrams and/or flowcharts may be implemented by a dedicated hardware-based system for executing designated functions or operations, or It may be implemented in a combination of hardware and computer instructions.

The embodiments of the present invention have been described above, and the above description is illustrative, not exhaustive, and is not limited to each disclosed embodiment. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of each described embodiment. The choice of terminology used herein best interprets the principle of each embodiment, practical application, or improvement of technology in the market, or that others skilled in the art can understand each embodiment disclosed herein. The purpose.

The present invention relates to a vehicle positioning system and method, and a vehicle control method and apparatus, the vehicle positioning system comprising: a virtual road display device configured to display a virtual road; an image acquisition device configured to acquire a target image while the target vehicle travels on the virtual road; and the target vehicle determines first location information on the virtual road according to the target image; and a processor configured to transmit first location information to the target vehicle. According to the vehicle positioning system of the embodiment of the present invention, a virtual road can be displayed through the virtual road display device, a plurality of roads can be designed for a target vehicle, the cost of the road can be reduced, and the road installation time is also It is not necessary, and the flexibility of the road route is improved. By allowing the target vehicle to determine its location on the road in real time, driving accurately on the virtual road, and eliminating the need for the target vehicle itself to record and adapt to the virtual road, the operation of the target vehicle in the driving process is simplified.

Claims (40)

A vehicle positioning system comprising:
a virtual road display device, an image acquisition device, and a processor;
the virtual road display device is configured to display a virtual road;
the image acquisition device is located above the virtual road, and is configured to acquire a target image while the target vehicle travels on the virtual road;
The processor is
connected to or built into the image acquisition device;
determine first location information of the target vehicle on the virtual road according to the target image;
and transmit the first location information to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the first location information. According to claim 1,
The processor is also
acquiring second location information of the obstacle according to the target image;
and transmit the second location information to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the first location information and the second location information. 3. The method of claim 1 or 2,
wherein the virtual road display device comprises a projection device, the projection device configured to project the pattern of the virtual road. 4. The method of claim 3,
wherein the projection device includes a projector and a projection plane, wherein the projector is configured to project the pattern of the virtual road onto the projection plane. 5. The method according to any one of claims 1 to 4,
The virtual road display device includes an augmented reality device, wherein the augmented reality device is configured to display the virtual road in an augmented reality interface. 6. The method according to any one of claims 1 to 5,
the virtual road display device is also configured to determine, according to the size of the target vehicle, the size of the virtual road;
The size of the target vehicle includes a width of the target vehicle, and the size of the virtual road includes a width of the road. 6. The method according to any one of claims 1 to 5,
The virtual road display device,
acquire a place image for displaying the virtual road place;
obtaining, according to the place image, place information, wherein the place information includes a size of the place;
and determine the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle. According to claim 1,
The processor is also
obtain place information and the size of the target vehicle;
and determine the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle, and transmit to the virtual road display device. 9. The method according to any one of claims 1 to 8,
The processor is also
generate a vehicle control command according to at least the first location information;
and sending the vehicle control command to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the vehicle control command. 10. The method according to any one of claims 1 to 9,
The processor is also
determine, according to the target image, an offset of the target vehicle with a lane centerline in the virtual road;
and generate the first position information according to the offset. 10. The method according to any one of claims 1 to 9,
The processor is also
determine, according to the target image, an image within a preset range in the forward direction of the target vehicle;
and generate the first position information according to an image within the preset range. 12. The method according to any one of claims 1 to 11,
Vehicle positioning system,
and a target vehicle configured to drive on the virtual road according to at least the first location information. 13. The method of claim 12,
The first location information includes an image in which a target vehicle is offset from a lane centerline on the virtual road or within a preset range in a target vehicle forward direction, and the target vehicle further determines a driving path of the target vehicle according to the offset. decide; and determine the driving path of the target vehicle according to an image within a preset range in the forward direction of the target vehicle. A vehicle control method comprising:
receiving first location information of the target vehicle transmitted by a vehicle positioning system;
determining, by the target vehicle, a driving route on a virtual road according to the first location information; and
and controlling the target vehicle to drive according to the driving route. 15. The method of claim 14,
The step of determining a driving route of the target vehicle on a virtual road according to the first location information includes:
determining, by the target vehicle, an offset from a lane centerline in the virtual road according to the first location information; and
and determining a driving path of the target vehicle according to the offset. 15. The method of claim 14,
The step of determining a driving route of the target vehicle on a virtual road according to the first location information includes:
determining an image within a preset range in the forward direction of the target vehicle according to the first location information; and
and determining a driving route of the target vehicle according to an image within the preset range. 17. The method according to any one of claims 14 to 16,
The vehicle control method comprises:
receiving a vehicle control command sent by the vehicle positioning system; and
The method of claim 1, further comprising: controlling driving of the target vehicle according to the vehicle control command. 17. The method according to any one of claims 14 to 16,
The vehicle control method comprises:
receiving second location information of the obstacle transmitted by the vehicle positioning system;
determining, by the target vehicle, a driving route on a virtual road according to the first location information and the second location information; and
The method of claim 1, further comprising the step of controlling the target vehicle and driving according to the driving route. A vehicle positioning method comprising:
determining the first location information of the target vehicle on the virtual road according to the target image, wherein the virtual road is a road displayed by the virtual road display device, and the target image is the target vehicle acquired by the image acquisition device An image of driving on the virtual road - ; and
and sending the first location information to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the first location information. 20. The method of claim 19,
The vehicle positioning method comprises:
obtaining second location information of the obstacle according to the target image; and
and sending the second location information to the target vehicle, thereby causing the target vehicle to drive on the road pattern according to the first location information and the second location information. . 20. The method of claim 19,
The vehicle positioning method comprises:
acquiring a place image for displaying a virtual road place through the virtual road display device;
obtaining, according to the place image, place information, wherein the place information includes a size of the place; and
The method of claim 1, further comprising determining the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle. 20. The method of claim 19,
The vehicle positioning method comprises:
obtaining location information and a size of a target vehicle; and
and determining the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle, and transmitting to the virtual road display apparatus. 23. The method according to any one of claims 19 to 22,
The vehicle positioning method comprises:
generating a vehicle control command according to at least the first location information; and
and sending the vehicle control command to the target vehicle, thereby causing the target vehicle to drive on the road pattern according to the vehicle control command. 24. The method according to any one of claims 19 to 23,
The step of determining the first location information of the target vehicle on the virtual road according to the target image includes:
determining, by the target vehicle, an offset from a lane centerline in the virtual road according to the target image; and
and generating the first position information according to the offset. 24. The method according to any one of claims 19 to 23,
The step of determining the first location information of the target vehicle on the virtual road according to the target image includes:
determining an image within a preset range in the forward direction of the target vehicle according to the target image; and
and generating the first location information according to an image within the preset range. A vehicle control device comprising:
a first receiving module, configured to receive first location information of the target vehicle transmitted by the vehicle positioning system;
a first determining module, configured to determine, according to the first location information, a driving route of the target vehicle on the virtual road; and
and a first driving module configured to control the target vehicle to travel along the driving route. 27. The method of claim 26,
The first determining module further comprises:
determine, according to the first location information, an offset of a target vehicle with a lane centerline in the virtual road;
and determine, according to the offset, a travel path of the target vehicle. 27. The method of claim 26,
The first determining module further comprises:
determine an image within a preset range in the forward direction of the target vehicle according to the first location information;
and determine the driving route of the target vehicle according to the image within the preset range. 27. The method of claim 26,
The vehicle control device,
a second receiving module, configured to receive a vehicle control command sent by the vehicle positioning system; and
The vehicle control apparatus of claim 1, further comprising a control module configured to control the target vehicle traveling according to the vehicle control command. 27. The method of claim 26,
The vehicle control device,
a third receiving module, configured to receive second position information of the obstacle transmitted by the vehicle positioning system;
a second determining module, configured to determine a driving route of the target vehicle on a virtual road according to the first location information and the second location information; and
and a second driving module configured to control the target vehicle to travel according to the driving route. A vehicle positioning device comprising:
a third determining module, configured to determine the first location information of the target vehicle on the virtual road according to the target image, wherein the virtual road is a road displayed by the virtual road display device, and the target image is obtained by the image acquiring device an image of the target vehicle driving on the virtual road; and
and a first transmitting module, configured to transmit the first location information to the target vehicle, thereby causing the target vehicle to drive on the virtual road according to the first location information. 32. The method of claim 31,
vehicle positioning device,
a first acquiring module, configured to acquire second position information of the obstacle according to the target image; and
and a second transmitting module, configured to transmit the second location information to the target vehicle, thereby causing the target vehicle to drive on the road pattern according to the first location information and the second location information. vehicle positioning device. 32. The method of claim 31,
vehicle positioning device,
a second acquiring module, configured to acquire a place image for displaying a virtual road place through the virtual road display device;
a third acquiring module, configured to acquire, according to the place image, place information, wherein the place information includes a size of the place; and
and a fourth determining module configured to determine the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle. 34. The method of claim 33,
vehicle positioning device,
a fourth acquiring module, configured to acquire the location information and the size of the target vehicle; and
Vehicle positioning, characterized in that it further comprises a fifth determining module, configured to determine the size of the virtual road and the pattern of the virtual road according to the location information and the size of the target vehicle, and transmit to the virtual road display device. Device. 32. The method of claim 31,
vehicle positioning device,
a generating module configured to generate a vehicle control command according to at least the first location information; and
and a third sending module, configured to transmit the vehicle control command to the target vehicle, thereby causing the target vehicle to drive on the road pattern according to the vehicle control command. 32. The method of claim 31,
The third determining module further comprises:
determine, according to the target image, an offset of the target vehicle with a lane centerline in the virtual road;
and generate the first position information according to the offset. 32. The method of claim 31,
The third determining module further comprises:
determine, according to the target image, an image within a preset range in the forward direction of the target vehicle;
and generate the first position information according to an image within the preset range. As an electronic device,
processor ; and
the processor includes a memory configured to store executable instructions;
The processor is configured to execute the method of vehicle control according to any one of claims 14 to 18 or to implement the vehicle positioning method according to any one of claims 19 to 25 Electronics. A computer readable storage medium having computer program instructions stored thereon, comprising:
to implement the method of vehicle control according to any one of claims 14 to 18 or to implement the vehicle positioning method according to any one of claims 19 to 25 when the computer program instructions are executed by a processor; A computer-readable storage medium comprising: A computer program product comprising computer readable code, comprising:
When the computer readable code is operated in an electronic device, the processor in the electronic device implements the method of vehicle control according to any one of claims 14 to 18, or any one of claims 19 to 25. A computer program product for implementing the vehicle positioning method according to claim 1 .

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