TWI415038B - Vehicle navigation device and method - Google Patents

Abstract

A vehicle navigation device includes a GPS signal processor, a display module, an image processing module, and a navigation correction module. The GPS signal processor receives positioning signals transmitted by GPS satellites via its antenna, and calculates a vehicle navigation position according to the positioning signals. The display module is used for displaying the vehicle navigation position on an electronic map. The image processing module is used for capturing images and calculating a vehicle actual position according to the images. The navigation correction module corrects the vehicle navigation position according to the vehicle actual position. The vehicle navigation position displayed on the electronic map is identical to the vehicle actual position. Thus navigation accuracy of the GPS navigation device is advanced. A related navigation method of vehicle is also provided.

Description

Vehicle navigation device and navigation method

The present invention relates to a navigation device and a navigation method, and more particularly to a vehicle navigation device and a navigation method.

With the development of society and the advancement of technology, the installation of Global Positioning System (GPS) navigation devices on vehicles has become a trend of vehicles.

Typically, the driver installs a GPS navigation device on the vehicle to effect vehicle navigation. The GPS navigation device receives a satellite signal transmitted by a GPS positioning satellite in space, and implements vehicle navigation according to the satellite signal and an electronic map.

However, the satellite signals transmitted by the GPS positioning satellites are generally updated once per second, and the satellite signals cannot reach the GPS navigation device in the presence of a building or metal barrier, and the GPS navigation device cannot accurately accurately during the navigation vehicle travel. Calculate the actual driving position of the current vehicle. That is, there is a certain error in the vehicle navigation driving position displayed on the electronic map and the actual driving position of the vehicle, which affects the driver to control the vehicle to travel according to the preset driving route.

In view of this, it is necessary to provide a navigation device that can improve the accuracy of GPS navigation.

In addition, it is necessary to provide a navigation method that can improve the accuracy of GPS navigation.

A vehicle navigation device includes a GPS signal processor, a microprocessor, a storage module for storing an electronic map, an input module, a display module, a camera processing module, and a navigation correction module, wherein the GPS signal processor The antenna receives the satellite signal transmitted by the GPS positioning satellite and calculates a navigation position of the vehicle according to the satellite signal; the input module is used for setting a driving route of the wheel; and the micro processing unit is configured to control the display module to display the set driving on the electronic map. The route and the vehicle navigation driving position; the camera processing module is configured to capture an image and obtain an actual driving position of the vehicle according to the image; the navigation correction module is configured to correct the vehicle navigation driving position according to the actual driving position of the vehicle to display the vehicle on the electronic map The navigation driving position is consistent with the actual driving position of the vehicle.

A vehicle navigation method includes the steps of: receiving a satellite signal; calculating a vehicle navigation driving position according to the satellite signal; capturing an image; calculating an actual driving position of the vehicle according to the image; and correcting the vehicle navigation driving position according to the actual driving position of the vehicle.

The above-described vehicle navigation device and its navigation method calculate the actual traveling position of the vehicle by the imaging processing module. The navigation correction module corrects the vehicle navigation driving position according to the actual driving position of the vehicle, so that the vehicle navigation driving position displayed on the electronic map is consistent with the actual driving position of the vehicle, so that the driver can control the vehicle to travel according to the preset driving route, and improve the GPS navigation. The navigation accuracy of the device.

500‧‧‧Navigation system

100‧‧‧ navigation device

200‧‧‧GPS positioning satellite

10‧‧‧Microprocessor

20‧‧‧GPS signal processor

21‧‧‧Antenna

30‧‧‧Display module

40‧‧‧ Storage Module

50‧‧‧ Camera Processing Module

60‧‧‧Navigation correction module

70‧‧‧Input module

90‧‧‧ Busbar

1 is a schematic diagram of a physical representation of a vehicle navigation system.

2 is a schematic diagram of a module of a vehicle navigation system.

FIG. 3 is a schematic diagram of the image processing module shown in FIG. 2.

4 is a flow chart of a navigation method of a vehicle navigation system.

Referring to both FIG. 1 and FIG. 2, the vehicle navigation system 500 includes a navigation device 100 mounted on a vehicle and a GPS positioning satellite 200 located in space.

The navigation device 100 includes a microprocessor 10, a GPS signal processor 20, a display module 30, a storage module 40, an imaging processing module 50, a navigation correction module 60, and an input module 70 that are connected to each other by a bus bar 90. The microprocessor 10 is used to control and coordinate the operation of other modules.

The GPS signal processor 20 communicates with the GPS positioning satellite 200 via its GPS receiving antenna 21, and receives satellite signals transmitted by at least four GPS positioning satellites 200 in the GPS positioning satellite 200 in space, and according to the propagation speed and propagation of the satellite signals. Calculate the distance D between the vehicle and the GPS positioning satellite 200, and then calculate the spatial distance based on the current position (X0, Y0, Z0) of the known GPS positioning satellite 200. The vehicle position information (X, Y, Z) is obtained. The GPS signal processor 20 calculates the estimated traveling speed of the vehicle based on the satellite signals received twice consecutively to calculate the displacement of the vehicle during the unit time, and pushes out the driving process according to the vehicle position information (X, Y, Z) and the estimated driving speed. The vehicle navigates to the driving position. At the same time, the microprocessor 10 controls the display module 30 to display the vehicle navigation driving position on the electronic map, so that the driver can know at any time whether the vehicle is traveling according to the preset driving route of the vehicle, so that the driver can control the vehicle to travel, thereby realizing vehicle navigation.

The storage module 40 is configured to store information such as an electronic map and a preset driving route of the vehicle, a driving position of the vehicle, and a traveling speed of the vehicle.

The camera processing module 50 is configured to capture an image and obtain an actual driving displacement and an actual driving position according to the image. Referring to FIG. 3 simultaneously, the imaging processing module 50 includes an imaging unit 51, an image recognition unit 52, a feature extraction unit 53, a coordinate compilation unit 54, and a coordinate comparison unit 55. The imaging unit 51 is configured to continuously capture an image of the road surface reference environment on the actual travel route of the vehicle. The image recognition unit 52 is configured to identify an image corresponding to the same entity in the two photos continuously captured by the imaging unit 51 according to the same amount of information in the image. The feature capturing unit 53 captures the location features of the images corresponding to the same entity in the two pictures. The coordinate compilation unit 54 compiles the position feature into coordinates. The coordinate comparison unit 55 compares the two coordinates to obtain the actual running displacement of the vehicle, thereby obtaining the actual driving position of the vehicle.

The navigation correction module 60 is configured to correct the vehicle navigation travel position according to the actual travel position of the vehicle obtained by the imaging processing module 50. The storage module 40 is further configured to store a predetermined vector, which is a threshold for determining whether to correct the position of the vehicle navigation travel on the electronic map. The microprocessor 10 is further configured to calculate a position vector difference between the actual travel position of the vehicle and the vehicle navigation travel position, and compare the position vector difference with a predetermined vector. If one of the magnitude and the angle of the position vector difference is greater than or equal to the size and angle corresponding to the predetermined vector, the error between the vehicle navigation driving position and the actual driving position of the vehicle is compared. The microprocessor 10 issues a correction command to the navigation correction module 60. The navigation correction module 60 responds to the correction command to correct the vehicle navigation driving position according to the actual driving position of the vehicle, so that the vehicle navigation driving position displayed on the electronic map is consistent with the actual driving position of the vehicle, so that the driver can control the vehicle to travel according to the preset driving route, and improve the GPS. The navigation accuracy of the navigation device 100.

The input module 70 is for the driver to interact with the microprocessor 10. The driver can input information to the microprocessor 10 via the input module 70. The microprocessor 10 completes the driver's request based on the input information. If the driver sets the driving route of the vehicle by the input module 70, the microprocessor 10 controls the display module 30 to display the route set by the driver on the electronic map, so that the driver can control the vehicle to travel according to the preset driving route.

The vehicle navigation system 500 and its navigation device 100 calculate the actual traveling position of the vehicle by the imaging processing module 50. The navigation correction module 60 corrects the vehicle navigation driving position according to the actual driving position of the vehicle, so that the vehicle navigation driving position displayed on the electronic map is consistent with the actual driving position of the vehicle, so that the driver can control the vehicle to travel according to the preset driving route, and improve the GPS navigation device. 100 navigation accuracy.

As shown in FIG. 3, it is a flowchart of a vehicle navigation method. At the beginning of the process, the GPS navigation system works, and steps S803 and S811 are simultaneously performed.

In step S803, the GPS signal processor 20 communicates with the GPS positioning satellite 200 via its GPS receiving antenna 21, which receives the satellite signal transmitted by the GPS positioning satellite 200.

Step S805, the GPS signal processor 20 calculates the distance D between the vehicle and the GPS positioning satellite 200 according to the propagation speed and the propagation time of the satellite signal, and then uses the spatial distance according to the current position (X0, Y0, Z0) of the known GPS positioning satellite 200. Calculation formula The vehicle position information (X, Y, Z) is obtained.

In step S807, the GPS signal processor 20 calculates the estimated traveling speed of the vehicle based on the satellite signals transmitted twice in succession to calculate the displacement of the vehicle during the unit time.

In step S809, the GPS signal processor 20 calculates the vehicle navigation traveling position during traveling based on the vehicle position information (X, Y, Z) and the vehicle estimated traveling speed. At the same time, the microprocessor 10 controls the display module 30 to display the vehicle navigation driving position on the electronic map, so that the driver can know at any time whether the vehicle is traveling according to the preset driving route of the vehicle, thereby realizing vehicle navigation.

In step S811, the imaging processing module 50 starts to operate, and the imaging unit 51 captures an image of the road surface reference environment on the actual traveling route of the vehicle to monitor the actual driving condition of the vehicle.

In step S813, the image recognition unit 52 identifies the image corresponding to the same entity in the two photos continuously captured by the imaging unit 51 according to the same amount of information in the image.

In step S815, the feature capturing unit 53 captures the location features of the images corresponding to the same entity in the two pictures.

In step S817, the coordinate compiling unit 54 compiles the positional features captured by the feature capturing unit 53 into coordinates.

In step S819, the coordinate comparison unit 55 compares the two coordinates to obtain the actual driving displacement of the vehicle, thereby obtaining the actual driving position of the vehicle.

Step S820, the microprocessor 10 calculates the vehicle navigation driving position and the actual driving position of the vehicle. The position vector difference between the settings.

In step S822, the microprocessor 10 compares whether the magnitude and angle of the position vector difference are smaller than the size and angle corresponding to the predetermined vector. If the magnitude and angle of the position vector difference are smaller than the size and angle corresponding to the predetermined vector, the vehicle position vector difference is negligible, and the vehicle navigation driving position displayed by the electronic map is consistent with the actual driving position of the vehicle. The navigation correction module 60 does not need to correct the vehicle navigation travel position on the electronic map, and returns to step S820. If one of the magnitude and the angle of the position vector difference is greater than or equal to the size and angle corresponding to the predetermined vector, the vehicle navigation driving position displayed on the electronic map has a large error with the actual driving position of the vehicle, and affects the driver to control the vehicle according to the preset. The travel route travels, and the flow proceeds to step S824.

In step S824, the microprocessor 10 issues a correction command to the navigation correction module.

Step S826, the navigation correction module 60 responds to the correction command to correct the vehicle navigation driving position according to the actual driving position of the vehicle, so that the vehicle navigation driving position displayed on the electronic map is consistent with the actual driving position of the vehicle, so that the driver can control the vehicle to follow the preset driving route. The navigation accuracy of the GPS navigation device 100 is improved.

The vehicle navigation method described above calculates the actual traveling position of the vehicle by the imaging processing module 50. The navigation correction module 60 corrects the vehicle navigation driving position according to the actual driving position of the vehicle, so that the vehicle navigation driving position displayed on the electronic map is consistent with the actual driving position of the vehicle, so that the driver can control the vehicle to travel according to the preset driving route, and improve the GPS navigation device. 100 navigation accuracy.

500‧‧‧Navigation system

100‧‧‧ navigation device

200‧‧‧GPS positioning satellite

10‧‧‧Microprocessor

20‧‧‧GPS signal processor

21‧‧‧Antenna

30‧‧‧Display module

40‧‧‧ Storage Module

50‧‧‧ Camera Processing Module

60‧‧‧Navigation correction module

70‧‧‧Input module

90‧‧‧ Busbar

Claims (8)

A vehicle navigation device includes a GPS signal processor, a microprocessor, a storage module for storing an electronic map, an input module, and a display module, and the GPS signal processor receives a satellite signal transmitted by a GPS positioning satellite through an antenna thereof And calculating a vehicle navigation driving position according to the satellite signal; the input module is configured to set a driving route of the wheel; the microprocessor is configured to control the display module to display the set driving route and the vehicle navigation driving position on the electronic map, and the improvement is: The vehicle navigation device further includes: an image processing module for capturing an image and obtaining an actual driving position of the vehicle according to the image; and a navigation correction module for correcting the vehicle navigation driving position according to the actual driving position of the vehicle to display the vehicle on the electronic map The navigation driving position is consistent with the actual driving position of the vehicle. The vehicle navigation device of claim 1, wherein the vehicle navigation system further comprises a storage module and a microprocessor, wherein the storage module is configured to store a predetermined vector, and the microprocessor is configured to calculate a vehicle navigation driving position. a vector difference from the actual travel position of the vehicle and comparing the vector difference with the predetermined vector. If one of the magnitude and the angle of the vector difference is greater than or equal to the size and angle corresponding to the predetermined vector, the navigation correction module is based on the vehicle The actual travel position corrects the vehicle navigation travel position such that the vehicle navigation travel position displayed on the electronic map coincides with the actual travel position of the vehicle. The vehicle navigation device of claim 1, wherein the camera processing module comprises: The image capturing unit is configured to capture an image of the road surface reference environment on the actual driving route of the vehicle; the image identifying unit is configured to identify an image corresponding to the same entity in the two photos continuously captured by the image capturing unit; the feature capturing unit captures two images The position feature of the image corresponding to the same entity in the picture; the coordinate coding unit compiles the position feature captured by the feature extraction unit into coordinates; the coordinate comparison unit compares the two coordinates to obtain the actual driving position of the vehicle. A vehicle navigation method includes the steps of: receiving a satellite signal; calculating a vehicle navigation driving position according to the satellite signal; capturing an image; calculating an actual driving position of the vehicle according to the image; and correcting the vehicle navigation driving position according to the actual driving position of the vehicle. The vehicle navigation method of claim 4, wherein the vehicle navigation method further comprises the steps of: calculating a vector difference between the vehicle navigation driving position and the actual driving position of the vehicle; determining whether the magnitude and the angle of the vector difference are both smaller than The predetermined vector corresponds to the size and angle; if one of the magnitude and the angle of the vector difference is greater than or equal to the size and angle corresponding to the predetermined vector, the vehicle navigation travel position is corrected according to the actual travel position of the vehicle. The vehicle navigation method of claim 5, wherein the vehicle navigation method further comprises the step of: if the magnitude and angle of the vector difference are smaller than the size and angle corresponding to the predetermined vector, Returning to the step of calculating the vector difference between the vehicle navigation travel position and the actual travel position of the vehicle. The vehicle navigation method of claim 4, wherein the step of calculating the actual driving position of the vehicle according to the image further comprises the steps of: identifying the image; capturing the position feature; compiling the coordinates; comparing the coordinates to obtain the actual driving of the vehicle. position. The vehicle navigation method of claim 4, wherein the step of calculating a vehicle navigation travel position based on the satellite signal further comprises the steps of: calculating vehicle position information; calculating a vehicle estimated travel speed; and calculating a vehicle navigation travel position.