WO2019134180A1 - Procédé et dispositif de positionnement de véhicule, appareil électronique et support - Google Patents

Procédé et dispositif de positionnement de véhicule, appareil électronique et support Download PDF

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Publication number
WO2019134180A1
WO2019134180A1 PCT/CN2018/072123 CN2018072123W WO2019134180A1 WO 2019134180 A1 WO2019134180 A1 WO 2019134180A1 CN 2018072123 W CN2018072123 W CN 2018072123W WO 2019134180 A1 WO2019134180 A1 WO 2019134180A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
positioning
position information
previous
threshold
Prior art date
Application number
PCT/CN2018/072123
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English (en)
Chinese (zh)
Inventor
黄佳敏
黄骏
胡剑平
Original Assignee
深圳市海梁科技有限公司
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Publication of WO2019134180A1 publication Critical patent/WO2019134180A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type

Definitions

  • the present application belongs to the field of data processing technologies, and in particular, to a vehicle positioning method, device, electronic device and medium.
  • vehicles use global satellite navigation systems for vehicle positioning, such as the use of the United States Global Positioning System (Global Positioning System, GPS), China's BeiDou Navigation Satellite System (BDS), Russia's Global Satellite Navigation System (Global) One or more of the Navigation Satellite System (GLONASS) and the European Global Navigation System (GALILEO) are used to locate the vehicle to determine where the vehicle is in real time and whether it deviates from the route.
  • Global Positioning System GPS
  • BDS BeiDou Navigation Satellite System
  • GLONASS Global Satellite Navigation Satellite System
  • GALILEO European Global Navigation System
  • the vehicle needs to face various road scenes.
  • the road scene contains more objects that interfere with the satellite positioning signals of the global satellite navigation system, such as in tunnels and underground parking lots.
  • road scenes such as roads containing a large number of buildings or trees, the intensity of the satellite signals received by the vehicles tends to drop or even disappear due to interference from objects such as buildings and trees in the road scene, making it impossible to accurately locate the vehicles.
  • the embodiments of the present invention provide a vehicle positioning method, device, and terminal device to solve the problem that the vehicle cannot be accurately located in different road scenarios in the prior art.
  • a first aspect of the embodiments of the present application provides a vehicle positioning method, including:
  • the bus station can transmit a wireless positioning signal for the positioning of the vehicle;
  • the vehicle If the number of the bus stations is less than or equal to the quantity threshold, reading the time of the previous positioning of the vehicle and the location information, and acquiring the time of the previous positioning to the current time, the vehicle is opposite to the front
  • the positional offset of the position information of the primary position, and the position information of the vehicle is calculated based on the position information of the previous positioning and the positional offset.
  • a second aspect of the embodiments of the present application provides a vehicle positioning apparatus, including:
  • a signal judging module configured to determine whether the strength of the received satellite positioning signal is less than an intensity threshold, and when the strength of the satellite positioning signal is less than the intensity threshold, read and determine whether the number of bus stations in the preset range of the vehicle is Above the number threshold, the bus station may transmit a wireless positioning signal for the vehicle location;
  • a first vehicle positioning module configured to read location information of the bus station and receive the wireless positioning signal sent by the bus station if the number of the bus stations is greater than the quantity threshold, based on the bus station Position information and the wireless positioning signal calculate position information of the vehicle;
  • a second vehicle positioning module configured to read a time and location information of the previous positioning of the vehicle if the number of the bus stations is less than or equal to the quantity threshold, and obtain the time of the previous positioning to the current time And a position shift amount of the vehicle relative to the position information of the previous positioning, and calculating position information of the vehicle based on the position information of the previous positioning and the position shift amount.
  • a third aspect of the embodiments of the present application provides a potential customer electronic device, including a memory, a processor, and a computer readable instruction executable on the processor, where the processor executes The steps of the vehicle positioning method as described above are implemented when the computer program is described.
  • a fourth aspect of the embodiments of the present application provides a computer readable storage medium storing computer readable instructions, wherein the computer program is executed by a processor to implement the above The steps of the vehicle positioning method.
  • the bus station that can transmit the wireless positioning signal for vehicle positioning is used for auxiliary positioning.
  • the number of bus stations around the vehicle is first judged.
  • the location information of the bus station can be accurately queried from the stored map data to the known accuracy.
  • Location information at this time, the location information of the bus station and the received wireless positioning signal can be used to accurately locate the vehicle.
  • the position offset can also be based on known vehicle data such as the wheel speed of the vehicle, the wheel diameter and the steering wheel rotation speed.
  • the data that can be calculated by using the known data is also the data that can be calculated by using the known data.
  • the accurate calculation of the current position information is realized according to the previous position information of the vehicle and the relative position offset of the previous time, thereby obtaining the current position of the vehicle. information. Therefore, in the embodiment of the present invention, the situation that the satellite positioning signal is weak is subdivided, and a plurality of corresponding precise positioning methods are set, thereby realizing the vehicle even in the case where the satellite positioning signal is weak. The purpose of precise positioning.
  • FIG. 1 is a schematic flowchart showing an implementation of a vehicle positioning method according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic flowchart showing an implementation of a vehicle positioning method according to Embodiment 2 of the present invention
  • FIG. 3 is a schematic flowchart showing an implementation of a vehicle positioning method according to Embodiment 3 of the present invention.
  • FIG. 4 is a schematic flowchart showing an implementation of a vehicle positioning method according to Embodiment 4 of the present invention.
  • FIG. 5 is a schematic flowchart of an implementation process of a vehicle positioning method according to Embodiment 5 of the present invention.
  • FIG. 6 is a schematic diagram of a vehicle positioning device according to Embodiment 6 of the present invention.
  • FIG. 7 is a schematic diagram of a vehicle positioning terminal device according to Embodiment 7 of the present invention.
  • FIG. 1 is a flowchart showing an implementation of a vehicle positioning method according to Embodiment 1 of the present invention, which is described in detail as follows:
  • the global satellite navigation system used by the vehicle is not limited, and may be selected by the user according to actual needs. Therefore, the satellite positioning signal in the embodiment of the present invention may be a GPS signal, a BDS signal, a GLONASS signal, and a GALILEO signal.
  • the existing satellite positioning signal receiving terminal can be realized, and the GPS signal receiving and intensity detection can be realized by using a common GPS receiving terminal. Therefore, in the embodiment of the present invention, the receiving device of the satellite positioning signal is not limited, but at least the receiving and intensity detecting functions of the satellite positioning signal are required.
  • an intensity threshold is set for the satellite positioning signal.
  • the strength and weakness are divided so that the subsequent division and positioning of different positioning situations can be selected.
  • the specific value of the intensity threshold is set by the technician according to the actual situation. However, in order to ensure the accuracy of the vehicle positioning in the embodiment of the present invention, the intensity threshold is preferably not too small.
  • S102 If the strength of the satellite positioning signal is less than the intensity threshold, read and determine whether the number of bus stations in the preset range of the vehicle is greater than a quantity threshold, and the bus station may send a wireless positioning signal for vehicle positioning.
  • the bus station in the embodiment of the present invention is used to transmit a wireless positioning signal to the surroundings, so as to help the vehicle to accurately locate when the satellite positioning signal is weak. Therefore, in the embodiment of the present invention, a technician is required.
  • the bus station in the road of the vehicle is set in advance, and the transmitter of the wireless positioning signal is installed, so that it has the function of transmitting the wireless positioning signal.
  • the wireless positioning signal includes, but is not limited to, a WIFI signal or a 5G signal.
  • the bus station around the vehicle is searched and it is determined whether the number of bus stations is sufficient for accurate positioning, so as to prepare for the subsequent positioning method selection.
  • the specific value of the preset range needs to be set by the technician according to the effective distance of the wireless positioning signal. For example, when the WIFI signal with the effective distance of 100 m is used (that is, the WIFI signal is unstable when it exceeds 100 m, it is difficult to use) For positioning), you can set the preset range to 100m.
  • the number threshold of the bus station is determined by the positioning method selected by the technician, such as when the real-time dynamic difference method is selected (Real - time When kinematic, RTK) is used for positioning, the number threshold can be set to 0 or 1.
  • the method includes: querying, from the stored map containing the location information of the bus station, the number of bus stations within a preset range around the vehicle. At this time, it is necessary to pre-store the map data with the bus station location information in the vehicle for inquiry at the time of use. Since the vehicle positioning is an intermittent behavior with a very short interval, such as every 1 ms to 100 ms, although the positioning has not been completed, it is considered that the distance traveled by the vehicle in such a short interval is relatively two. The distance between the bus stops is very short, so you can directly use the location information obtained by the vehicle to locate the map to know the number of bus stops required.
  • Another specific implementation manner of the bus station searching for the present invention includes: determining the number of bus stations within a preset range around the vehicle according to the received wireless positioning signal and the strength of the wireless positioning signal. Since the bus station will continuously transmit the wireless positioning signal during the running of the vehicle, the wireless positioning signal can be received as long as the vehicle is within the range of the wireless positioning signal, but the above description indicates that the distance exceeds the effective distance.
  • the strength of the wireless positioning signal is used for screening, and only the strength is obtained.
  • the wireless positioning signal may be received by the wireless positioning signal.
  • the bus station corresponding to the required wireless positioning signal looks at the bus station that meets the requirements and counts the number. At this time, the wireless positioning signal sent by the bus station needs to include the location information of the bus station to ensure the subsequent vehicle position calculation.
  • the location information of the bus station can be finally obtained. Therefore, the location of the bus station can be directly read in S103 of the embodiment of the present invention. information.
  • the number of bus stations is large, considering the location information of the bus station is known, and the wireless location information of the bus station can be obtained in real time, at this time, using the bus station as a fixed base station for vehicle positioning can greatly improve the positioning of the vehicle. Accuracy, so when the satellite positioning signal strength is weak and the number of bus stations is large, the embodiment of the present invention calculates the location information of the vehicle according to the location information of the bus station and the wireless positioning signal.
  • the RTK positioning technology can be utilized to combine the location information of the bus station and the wireless positioning signal to achieve precise positioning of the vehicle. Since the RTK positioning technology belongs to the prior art well known to those skilled in the art, this It will not be detailed.
  • the satellite positioning signal may be very weak or even completely disappeared, and the vehicle cannot be accurately positioned using the RTK positioning technique.
  • the wireless positioning signal strength is lower than a minimum value
  • the position information of at least two bus stations before and after the vehicle and the wireless positioning signal are used to achieve accurate positioning of the vehicle.
  • the specific numerical value of the minimum value is set by the technician according to the actual situation.
  • the 1588 precision time synchronization protocol processes the signal flight time and flight direction of the wireless positioning signals transmitted by the two bus stations before and after the two bus stations, and obtains the positions of the two bus stations before and after the vehicle, and according to the known bus stations.
  • the position information calculates the position information of the vehicle, thereby achieving accurate positioning of the vehicle.
  • the number of the bus station is less than or equal to the quantity threshold, read the previous positioning time of the vehicle and the previous positioning position information, and obtain the position offset of the vehicle from the previous positioning time to the current time, based on the previous positioning position.
  • the information and the position offset calculate the position information of the vehicle.
  • the embodiment of the present invention adopts a relative displacement method for positioning, that is, using the last position information of the vehicle and the relative position.
  • the last position offset is used to calculate the current position information of the vehicle, as detailed below:
  • the processing of the data can easily obtain the lateral displacement and the longitudinal displacement of the vehicle in a certain period of time, which belongs to the prior art and will not be described in detail here. Therefore, the processing of these known data can be easily obtained.
  • the bus station that can transmit the wireless positioning signal for vehicle positioning is used for auxiliary positioning.
  • the number of bus stations around the vehicle is first judged.
  • the number of bus stations is sufficient to achieve accurate positioning of the vehicle, since the location information of the bus station can be accurately queried from the stored map data or wireless positioning information, It belongs to the known precise position information. At this time, the position information of the bus station and the received wireless positioning signal can be used to achieve accurate positioning of the vehicle.
  • the position offset can also be based on known vehicle data such as the wheel speed of the vehicle, the wheel diameter and the steering wheel rotation speed. Calculated, it is also the data that can be calculated by using the known data. At this time, the accurate calculation of the current position information is realized according to the previous position information of the vehicle and the relative position offset of the previous time, thereby obtaining the current position of the vehicle. information. Therefore, in the embodiment of the present invention, the situation that the satellite positioning signal is weak is subdivided, and a plurality of methods corresponding to the complementary precise positioning are set, thereby realizing that even in the case where the satellite positioning signal is weak, The purpose of the vehicle for precise positioning.
  • the method includes:
  • the intensity of the satellite positioning signal is greater than or equal to the intensity threshold, during the update period of the vehicle to the satellite positioning signal, the time and position information of the previous positioning of the vehicle are read, and the time of the previous positioning is obtained to the current time, and the vehicle is relatively front.
  • the positional offset of the position information of one position is calculated based on the position information of the previous positioning and the positional offset amount.
  • the existing global satellite navigation system-based positioning equipment generally updates the satellite positioning signal.
  • the frequency is relatively low.
  • the GPS update frequency of a general GPS navigation device is only 1 frame/second to 10 frames/second.
  • the conventional satellite positioning signal positioning method and the position offset are used for positioning. The method is combined to increase the frequency of updating the vehicle positioning, as detailed below:
  • the vehicle only uses the satellite positioning signal to calculate the position information at the time of reaching the periodic node, for example, assuming that the satellite positioning signal is updated at a frequency of 10 frames/second, and the period is assumed.
  • the node time is 1ms, 101ms, 201ms, 301ms, 401ms, 501ms, 601ms, 701ms, 801ms, and 901ms.
  • the traditional positioning method updates the satellite positioning signal information and calculates the location information of the vehicle at these periodic node times, but During the time period between these periodic nodes, the position information is not updated for the vehicle during the period from 1 ms to 101 ms.
  • the update period in the embodiment of the present invention is within the time period between the foregoing periodic nodes.
  • the embodiment of the present invention uses the position offset to locate the vehicle during the time period of the update period node of the satellite positioning signal, for example, during the period from 1 ms to 101 ms.
  • the position offset is used to position the vehicle. Since the number of times the vehicle is positioned by using the position offset during the period of the update period node can be set by the technician, for example, the position offset can be updated 9 times during the period of the update period node. At this time, the original positioning of the vehicle 10 frames/second can be raised to 100 frames/second, thereby realizing the improvement of the vehicle positioning update frequency.
  • the method for positioning the vehicle includes:
  • S201 If the number of the bus stations is less than or equal to the quantity threshold, read and determine whether the drift error of the satellite positioning signal is less than an error threshold.
  • the device for positioning satellite positioning signals generally has the function of calculating the drift error of the satellite positioning signal, that is, the positioning device in the prior art can directly give the specific value of the drift error of the satellite positioning signal. Therefore, the drift error in the embodiment of the present invention can be directly read by the positioning device in the vehicle, and the error threshold needs to be set by the technician according to the actual situation.
  • the drift error of the satellite positioning signal is simultaneously considered when the vehicle is positioned.
  • the drift error is small, it indicates that the position information of the vehicle obtained by using the satellite positioning signal is reliable.
  • the position information obtained by the previous positioning has a reference value, and therefore, the satellite positioning signal strength is weak and the bus station cannot be used.
  • the position information of the current time can be directly calculated by using the previous position information and the corresponding position offset to achieve accurate positioning of the vehicle.
  • the method for positioning the vehicle includes:
  • S301 If the number of the bus stations is less than or equal to the quantity threshold, read and determine whether the drift error of the satellite positioning signal is less than an error threshold.
  • drift error of the satellite positioning signal is greater than or equal to the error threshold, collect the positioning two-dimensional code image located on the side of the road, and determine the position information of the vehicle according to the positioning two-dimensional code image.
  • the reference value of the vehicle position information obtained by using the satellite positioning signal processing is low.
  • the position information of the vehicle at the current time cannot be accurately inferred by using the position information obtained by the previous positioning.
  • the lines of operation are relatively fixed.
  • the technician can determine which road conditions have large drift errors in the satellite positioning signals according to the actual environmental conditions of the roads in the route. Therefore, In order to ensure accurate positioning of the vehicle in these roads with large drift errors, in the embodiment of the present invention, the roads with large drift errors are pre-measured by the technician to determine the corresponding position information, and the records are recorded.
  • the two-dimensional code image of the position information is posted on the side of the road so that the vehicle can accurately determine the position information of the vehicle by reading the two-dimensional code image when the satellite positioning signal drift error is too large to be accurately positioned. Precise positioning of the vehicle.
  • S401 Control a camera located at the front of the vehicle to collect a diamond pattern on the road preset track to obtain a road image including a diamond pattern.
  • the road preset trajectory is used for correcting the preset driving route when the vehicle is running.
  • the technician pre-designs the road preset trajectory as the standard driving route of the vehicle in advance, and draws a fixed-size diamond pattern at a preset pitch on the road preset trajectory, and the two diamond shapes One diagonal line coincides with the road preset trajectory, and the other one is perpendicular to the road preset trajectory.
  • the camera is set at the front of the vehicle to realize the collection of the diamond pattern during the running of the vehicle.
  • the vehicle may deviate from the planned driving route due to obstacle avoidance or other reasons. There may be some danger in correcting the vehicle.
  • the position information of the obtained vehicle is also necessarily not in the driving route.
  • the precise position information of the vehicle is calculated by the above several embodiments, due to the deviation of the actual position, It may cause the user to obtain an inaccurate and unreliable location information for reasons of inaccurate positioning. Therefore, in order to improve the reliability of the obtained position information, it is also ensured that the vehicle is safe during driving.
  • the diamond image on the road preset trajectory is collected in real time during the running of the vehicle by using the camera at the front of the vehicle for correct use of the subsequent driving route.
  • S402. Determine, according to the collected road image including the diamond pattern, whether the vehicle travel route is offset, and when determining that there is an offset of the travel route of the vehicle, adjust a travel direction of the vehicle according to the collected road image including the diamond pattern to correct The route of the vehicle.
  • the position of the diamond image relative to the road is fixed in the embodiment of the present invention, it is easy to know whether the vehicle deviates from the driving route or the vehicle offset by analyzing the collected road image including the diamond pattern.
  • the direction and the distance of the deviation, as in the road image containing the diamond pattern, the center point of the diamond pattern deviates from the pixel of the point in the road image, and the pixels of each side corresponding to the diamond itself can be directly obtained from the road image, due to the diamond shape
  • the size of the pattern is known, at which point the actual distance of the vehicle's offset travel route can be easily scaled so that the vehicle can correct the travel route based on the actual distance of the resulting offset.
  • the safety during the running of the vehicle is ensured, and the reliability of the position information of the obtained vehicle is improved.
  • the method further includes:
  • S501 Control a camera located at the front of the vehicle to collect a diamond pattern on the road preset track to obtain a road image including a diamond pattern.
  • S502 Read stored diamond parameter data, an angle between the vehicle heading and the road preset trajectory, and a center point distance of the vehicle midpoint to the road image.
  • S503 processing, according to the stored diamond parameter data, the angle between the vehicle heading and the road preset trajectory, and the center point distance of the vehicle midpoint to the road image, obtaining an offset of the vehicle relative to the road preset trajectory, and based on the offset Update the location information of the vehicle.
  • the rules for setting the road preset trajectory and the diamond in the embodiment of the present invention are the same as those in the fourth embodiment of the present invention, and are not described herein.
  • the above-described embodiment of the present invention can utilize the vehicle position offset to achieve relative positioning of the vehicle two positions before and after, in actual cases, the specific calculation of the position offset depends on the acquisition of the vehicle during the two positioning processes. Data such as wheel speed, wheel diameter and steering wheel rotation speed, while the wheel speed and steering wheel rotation speed are obtained at a certain frequency. Since the steering wheel does not rotate at a constant speed in real time, the vehicle position offset calculated in the actual situation is obtained. There must be a certain lateral error, and the position information of the finally obtained vehicle must also have a certain error.
  • the road preset trajectory and the diamond shape set by the technician in the road are used to calculate.
  • the actual position of the vehicle is that the midpoint of the vehicle 1 is point e, and the vehicle position calculated by the vehicle position offset is the vehicle 2 (because the vehicle has always been driving on the road preset trajectory, therefore, the vehicle 2 Located on the road preset trajectory, the midpoint is g.
  • the center point of the road image containing the diamond ABCD captured by the vehicle is o point, the midpoint of the diamond is b point, and the angle between the vehicle heading and the road preset trajectory is ⁇ , in the vehicle.
  • the distance from the center point of the point to the road image is oe.
  • the offset of the vehicle position calculated from the vehicle actual position and the vehicle position offset includes the lateral offset ⁇ x .
  • the size of the diamond pattern collected in the road pattern at different distances from the diamond pattern can also be stored in advance by the technician, and thus, in the present invention.
  • the shortest distance oa of the road image center point o point to the road preset trajectory can be easily obtained, and the calculation is performed.
  • the size of the diamond in the road image can easily determine the distance oe from the center point of the vehicle to the road image, and at the same time process the road image to determine the point b and the angle between the vehicle's navigation and the road's preset trajectory. ⁇ oda, the angle ⁇ .
  • the position information of the vehicle calculated by the position offset positioning is updated, and the vehicle position information with higher accuracy is obtained, thereby realizing accurate vehicle. Positioning.
  • the collected road image including the diamond image is used to further accurately position the position of the vehicle, thereby realizing high-precision positioning of the vehicle.
  • the road condition is first distinguished by judging the strength of the satellite positioning signal, and in the case of a road with a strong satellite positioning signal, the satellite positioning signal and the position offset are used to enhance the vehicle. Positioning frequency.
  • the embodiment of the present invention uses the bus station to perform auxiliary positioning when there are many bus stations, thereby ensuring the accuracy of positioning the vehicle.
  • the road condition is further subdivided according to the drift error in the embodiment of the present invention.
  • the position offset is used to accurately calculate the position information of the vehicle.
  • the two-dimensional code image on the side of the road is directly used to provide accurate position information for the vehicle. Therefore, in the embodiment of the present invention, the road condition is subdivided into various possible scenarios by the satellite positioning signal, the number of bus stations, and the drift error, and different coping solutions are set for each case, so that the vehicle is on any road. In this case, accurate positioning is achieved. At the same time, the diamond pattern is used to correct the driving route of the vehicle, and the reliability of the obtained position information is further ensured.
  • FIG. 6 is a structural block diagram of a vehicle positioning provided by an embodiment of the present invention.
  • the vehicle positioning device illustrated in FIG. 6 may be the execution body of the vehicle positioning method provided in the foregoing first embodiment.
  • the vehicle positioning device includes:
  • the signal strength determining module 61 is configured to determine whether the strength of the received satellite positioning signal is less than an intensity threshold.
  • the bus station detecting module 62 is configured to: when the intensity of the satellite positioning signal is less than the intensity threshold, read and determine whether the number of bus stations in the preset range of the vehicle is greater than a quantity threshold, and the bus station may send the used A wireless positioning signal for vehicle positioning.
  • the first vehicle positioning module 63 is configured to: if the number of the bus stations is greater than the quantity threshold, read location information of the bus station, and receive the wireless positioning signal sent by the bus station, based on the bus station The location information and the wireless positioning signal calculate location information of the vehicle.
  • the second vehicle positioning module 64 is configured to read the previous positioning time of the vehicle and the previous positioning position information when the number of the bus stations is less than or equal to the quantity threshold, and obtain the previous positioning time to The position shift amount of the vehicle at the current time, and the position information of the vehicle is calculated based on the previous positioning position information and the position shift amount.
  • vehicle positioning device further includes:
  • a third vehicle positioning module configured to read a previous positioning time of the vehicle during an update period of the satellite positioning signal by the vehicle when an intensity of the satellite positioning signal is greater than or equal to the intensity threshold Positioning the position information for the previous time, and acquiring the positional deviation amount of the vehicle from the previous positioning time to the current time, calculating the position of the vehicle based on the previous positioning position information and the positional deviation amount information.
  • the second vehicle positioning module includes:
  • the drift judging module is configured to read and determine whether the drift error of the satellite positioning signal is less than an error threshold if the number of the bus stations is less than or equal to the quantity threshold.
  • a vehicle positioning submodule configured to read the previous positioning time of the vehicle and the previous positioning position information when the drift error of the satellite positioning signal is less than the error threshold, and acquire the previous positioning time to the current time
  • the position shift amount of the vehicle is calculated based on the previous positioning position information and the position shift amount.
  • vehicle positioning device further includes:
  • the drift judging module is configured to read and determine whether the drift error of the satellite positioning signal is less than an error threshold if the number of the bus stations is less than or equal to the quantity threshold.
  • a fourth vehicle positioning module configured to: if the drift error of the satellite positioning signal is greater than or equal to the error threshold, collect a positioning two-dimensional code image located on a side of the road, and determine, according to the positioning two-dimensional code image, Location information of the vehicle.
  • vehicle positioning device further includes:
  • An image acquisition module is configured to control a camera located at a front of the vehicle to collect a diamond pattern on a road preset track to obtain a road image including a diamond pattern.
  • a route correction module configured to determine, according to the collected road image including the diamond pattern, whether the travel route of the vehicle is offset, and when determining that there is an offset of the travel route of the vehicle, according to the collected diamond shape
  • the patterned road image adjusts the direction of travel of the vehicle to correct the travel route of the vehicle.
  • FIG. 7 is a schematic diagram of a vehicle positioning terminal device according to an embodiment of the present invention.
  • the vehicle positioning terminal device 7 of this embodiment includes a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and operable on the processor 70.
  • the processor 70 executes the computer program 72 to implement the steps in the various embodiments of the vehicle positioning method described above, such as steps 101 through 104 shown in FIG.
  • the processor 70 when executing the computer program 72, implements the functions of the modules/units in the various apparatus embodiments described above, such as the functions of the modules 61-64 shown in FIG.
  • the vehicle positioning terminal device 7 may be a computing device such as a desktop computer, a notebook, a palmtop computer, and a cloud server.
  • the vehicle positioning terminal device may include, but is not limited to, a processor 70, a memory 71. It will be understood by those skilled in the art that FIG. 7 is merely an example of the vehicle positioning terminal device 7, and does not constitute a limitation of the vehicle positioning terminal device 7, and may include more or less components than those illustrated, or may combine some components. Or different components, such as the vehicle positioning terminal device, may also include input and output devices, network access devices, buses, and the like.
  • the so-called processor 70 can be a central processing unit (Central Processing Unit, CPU), can also be other general purpose processors, digital signal processors (DSP), application specific integrated circuits (Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the memory 71 may be an internal storage unit of the vehicle locating terminal device 7, such as a hard disk or memory of the vehicle locating terminal device 7.
  • the memory 71 may also be an external storage device of the vehicle positioning terminal device 7, such as a plug-in hard disk equipped on the vehicle positioning terminal device 7, a smart memory card (SMC), and a secure digital (Secure) Digital, SD) cards, flash cards, etc.
  • the memory 71 may also include both an internal storage unit of the vehicle positioning terminal device 7 and an external storage device.
  • the memory 71 is used to store the computer program and other programs and data required by the vehicle locating terminal device.
  • the memory 71 can also be used to temporarily store data that has been output or is about to be output.
  • each functional unit and module described above is exemplified. In practical applications, the above functions may be assigned to different functional units as needed.
  • the module is completed by dividing the internal structure of the device into different functional units or modules to perform all or part of the functions described above.
  • Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit, and the integrated unit may be hardware.
  • Formal implementation can also be implemented in the form of software functional units.
  • the specific names of the respective functional units and modules are only for the purpose of facilitating mutual differentiation, and are not intended to limit the scope of protection of the present application.
  • For the specific working process of the unit and the module in the foregoing system reference may be made to the corresponding process in the foregoing method embodiment, and details are not described herein again.
  • the disclosed terminal device and method may be implemented in other manners.
  • the terminal device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated modules/units if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present invention implements all or part of the processes in the foregoing embodiments, and may also be completed by a computer program to instruct related hardware.
  • the computer program may be stored in a computer readable storage medium. The steps of the various method embodiments described above may be implemented when the program is executed by the processor.
  • the computer program comprises computer program code, which may be in the form of source code, object code form, executable file or some intermediate form.
  • the computer readable medium may include any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM). Random access memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. It should be noted that the content contained in the computer readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in a jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, computer readable media Does not include electrical carrier signals and telecommunication signals.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne une solution applicable au domaine technique du traitement de données, et un procédé, un dispositif de positionnement de véhicule et un appareil terminal. Le procédé consiste à : si l'intensité d'un signal de positionnement par satellite est inférieure à un seuil de résistance, lire le nombre d'arrêts de bus dans une plage prédéfinie d'un véhicule et déterminer si le nombre est supérieur à un seuil de nombre ; et si le nombre d'arrêts de bus est supérieur au seuil de nombre, lire des informations d'emplacement d'arrêts de bus et recevoir des signaux de positionnement sans fil envoyés par les arrêts de bus, et calculer des informations d'emplacement du véhicule sur la base des informations d'emplacement des arrêts de bus et des signaux de positionnement sans fil ; ou si le nombre d'arrêts de bus est inférieur ou égal au seuil de nombre, lire les informations de position et de temps de positionnement précédentes du positionnement précédent du véhicule, et calculer des informations de position du véhicule sur la base des informations de position du positionnement précédent et d'un décalage de position. Des modes de réalisation de cette solution réalisent une subdivision situationnelle dans des situations où des signaux de positionnement par satellite sont relativement faibles, et fournissent de multiples procédés correspondants pour effectuer un positionnement précis, ce qui permet d'effectuer un positionnement précis sur un véhicule même lorsque des signaux de positionnement par satellite sont relativement faibles.
PCT/CN2018/072123 2018-01-08 2018-01-10 Procédé et dispositif de positionnement de véhicule, appareil électronique et support WO2019134180A1 (fr)

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CN201810014934.9 2018-01-08

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CN110784819B (zh) * 2019-10-15 2021-05-04 恒鸿达科技有限公司 一种自适应定位方法及终端
CN113012422B (zh) * 2019-12-20 2023-03-21 百度在线网络技术（北京）有限公司 公交车定位方法、装置、设备及存储介质
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