WO2021036408A1 - 车辆定位系统及方法、车辆控制方法及装置 - Google Patents

车辆定位系统及方法、车辆控制方法及装置 Download PDF

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Publication number
WO2021036408A1
WO2021036408A1 PCT/CN2020/095382 CN2020095382W WO2021036408A1 WO 2021036408 A1 WO2021036408 A1 WO 2021036408A1 CN 2020095382 W CN2020095382 W CN 2020095382W WO 2021036408 A1 WO2021036408 A1 WO 2021036408A1
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Prior art keywords
target vehicle
vehicle
runway
virtual
virtual runway
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PCT/CN2020/095382
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English (en)
French (fr)
Inventor
牛临潇
李�诚
陈亦鹏
Original Assignee
上海商汤智能科技有限公司
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Application filed by 上海商汤智能科技有限公司 filed Critical 上海商汤智能科技有限公司
Priority to KR1020217018364A priority Critical patent/KR20210090255A/ko
Priority to JP2021530879A priority patent/JP2022509986A/ja
Priority to SG11202106275RA priority patent/SG11202106275RA/en
Publication of WO2021036408A1 publication Critical patent/WO2021036408A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector

Definitions

  • the present disclosure relates to the field of computer technology, in particular to a vehicle positioning system and method, and a vehicle control method and device.
  • the runway of the vehicle model is usually a physical runway, and the route of the runway is usually fixed, and the economic cost of the runway is high, and the construction of the runway takes a certain amount of time.
  • the present disclosure proposes a vehicle positioning system and method, and a vehicle control method and device.
  • An embodiment of the present disclosure provides a vehicle positioning system, including: a virtual runway display device, an image acquisition device, and a processor, the virtual runway display device is configured to display a virtual runway; the image acquisition device is located above the virtual runway , Configured to obtain a target image while the target vehicle is driving on the virtual runway; the processor is connected to the image acquisition device or is built in the image acquisition device, and is configured to: determine the target image according to the target image The first position information of the target vehicle in the virtual runway; and the first position information is sent to the target vehicle, so that the target vehicle drives on the virtual runway according to the first position information.
  • the virtual runway can be displayed through the virtual runway display device, multiple runways can be designed for the target vehicle, the cost of the runway is reduced, the time for the runway is not required, and the runway route is improved. flexibility.
  • the processor can determine the first position information of the target vehicle according to the target image of the target vehicle driving on the virtual runway, enabling the target vehicle to determine its position on the runway in real time, and then accurately driving on the virtual runway, so that the target vehicle itself There is no need to record and adapt to the virtual runway, which simplifies the calculation of the target vehicle in the driving process.
  • the processor is further configured to: acquire second position information of the obstacle according to the target image; send the second position information to the target vehicle, so that the target vehicle Driving in the virtual runway according to the first position information and the second position information.
  • the target vehicle can have the ability to avoid obstacles and improve the performance of the target vehicle.
  • the virtual runway display device includes a projection device configured to project a pattern of the virtual runway.
  • the projection device includes a projector and a projection plane, and the projector is configured to project the pattern of the virtual racetrack on the projection plane.
  • the virtual runway display device includes an augmented reality device, and the augmented reality device is configured to display the virtual runway in an augmented reality interface.
  • the virtual runway display device is further configured to determine the size of the virtual runway according to the size of the target vehicle, the size of the target vehicle includes the width of the target vehicle, and the size of the virtual runway Including the width of the runway.
  • the virtual runway display device is configured to: obtain a field image for displaying a virtual runway field; obtain field information according to the field image, where the field information includes the size of the field; The size of the virtual runway and the pattern of the virtual runway are determined according to the site information and the size of the target vehicle.
  • the processor is further configured to: obtain site information and the size of the target vehicle; determine the size of the virtual runway and the size of the virtual runway according to the site information and the size of the target vehicle The pattern of the runway is sent to the virtual runway display device.
  • the size of the virtual runway can be adapted to the size of the target vehicle. If the target vehicle is changed, the size of the virtual runway can be easily adjusted without repurchasing or building a new runway, saving costs and improving the use of the virtual runway. Convenience.
  • the processor is further configured to: generate a vehicle control instruction according to at least the first position information; send the vehicle control instruction to the target vehicle, so that the target vehicle The vehicle control instruction runs on the virtual track.
  • the determining the first position information of the target vehicle in the virtual runway according to the target image includes: determining, according to the target image, that the target vehicle is in the virtual track. The offset of the runway from the center line of the lane; and the first position information is generated according to the offset.
  • the determining the first position information of the target vehicle in the virtual runway according to the target image includes: determining the forward direction of the target vehicle in the traveling direction according to the target image. Set the image within the range; generate the first position information according to the image within the preset range.
  • the system further includes a target vehicle, and the target vehicle is configured to drive on a virtual runway at least according to the first position information.
  • the first position information includes an offset of the target vehicle from the center line of the lane in the virtual runway or an image within a preset range in the traveling direction of the target vehicle.
  • the target vehicle is configured to: determine the travel path of the target vehicle according to the offset; or, determine the travel path of the target vehicle according to an image within a preset range in the direction of travel of the target vehicle. The driving path of the target vehicle.
  • the embodiment of the present disclosure provides a vehicle control method, including: receiving first position information of the target vehicle sent by a vehicle positioning system; and determining the driving path of the target vehicle in a virtual runway according to the first position information ; Control the target vehicle to follow the driving path.
  • determining the driving path of the target vehicle in the virtual runway according to the first location information includes: determining that the target vehicle is in the virtual runway and the travel path of the target vehicle in the virtual runway according to the first location information. The offset of the center line of the lane; according to the offset, the driving path of the target vehicle is determined.
  • determining the travel path of the target vehicle in the virtual runway according to the first position information includes: determining a preset travel direction of the target vehicle according to the first position information The image within the range; according to the image within the preset range, the driving path of the target vehicle is determined.
  • the method further includes: receiving a vehicle control instruction sent by the vehicle positioning system; and controlling the target vehicle to travel according to the vehicle control instruction.
  • the method further includes: receiving second location information of the obstacle sent by a vehicle positioning system; and determining that the target vehicle is located according to the first location information and the second location information.
  • the embodiment of the present disclosure provides a vehicle positioning method, including: determining first position information of a target vehicle in a virtual runway according to a target image, wherein the virtual runway is a runway displayed by a virtual runway display device, and the target image is An image of the target vehicle driving on the virtual track acquired by the image acquisition device; sending the first position information to the target vehicle so that the target vehicle is on the virtual track according to the first position information Driving in.
  • the method further includes: acquiring second location information of the obstacle according to the target image; sending the second location information to the target vehicle, so that the target vehicle is The first position information and the second position information travel in the track pattern.
  • the method further includes: obtaining a field image for displaying a virtual runway field through the virtual runway display device; obtaining field information according to the field image, where the field information includes The size of the field; the size of the virtual runway and the pattern of the virtual runway are determined according to the field information and the size of the target vehicle.
  • the method further includes: obtaining site information and the size of the target vehicle; determining the size of the virtual runway and the size of the virtual runway according to the site information and the size of the target vehicle The pattern is sent to the virtual track display device.
  • the method further includes: generating a vehicle control instruction according to at least the first position information; sending the vehicle control instruction to the target vehicle, so that the target vehicle is based on the vehicle Control instructions to travel in the track pattern.
  • determining the first position information of the target vehicle in the virtual runway according to the target image includes: determining the deviation of the target vehicle from the center line of the lane in the virtual runway according to the target image Shift; according to the shift, the first position information is generated.
  • determining the first position information of the target vehicle in the virtual runway according to the target image includes: determining the image within a preset range in the traveling direction of the target vehicle according to the target image; Generating the first position information from the image within the preset range.
  • An embodiment of the present disclosure provides a vehicle control device, the device includes: a first receiving module configured to receive first position information of the target vehicle sent by a vehicle positioning system; a first determining module configured to receive first position information of the target vehicle according to the The first location information determines the driving path of the target vehicle in the virtual runway; the first driving module is configured to control the target vehicle to travel according to the driving path.
  • An embodiment of the present disclosure provides a vehicle positioning device, the device includes: a third determining module configured to determine first position information of a target vehicle in a virtual runway according to a target image, wherein the virtual runway is a virtual runway display The track displayed by the device, the target image is the image of the target vehicle driving in the virtual track acquired by the image acquisition device; the sending module is configured to send the first position information to the target vehicle so that all The target vehicle is traveling on the virtual runway according to the first position information.
  • An embodiment of the present disclosure provides an electronic device, including: a processor; a memory configured to store executable instructions of the processor; wherein the processor is configured to execute the foregoing method.
  • the embodiments of the present disclosure provide a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions implement the foregoing method when executed by a processor.
  • the embodiments of the present disclosure provide a computer program product, including computer-readable code, and when the computer-readable code runs in an electronic device, the processor in the electronic device executes to implement one or more of the foregoing implementations.
  • the server executes the above method.
  • the virtual runway can be displayed through the virtual runway display device, multiple runways can be designed for the target vehicle, the cost of the runway is reduced, the time for the runway is not required, and the runway route is improved. flexibility.
  • the processor can determine the first position information of the target vehicle according to the target image of the target vehicle driving on the virtual runway, enabling the target vehicle to determine its position on the runway in real time, and then accurately driving on the virtual runway, so that the target vehicle itself There is no need to record and adapt to the virtual runway, which simplifies the calculation of the target vehicle in the driving process.
  • Fig. 1 shows a block diagram of a vehicle positioning system according to an embodiment of the present disclosure
  • Figure 2 shows a schematic diagram of a virtual runway according to an embodiment of the present disclosure
  • Fig. 3 shows a flowchart of a vehicle control method according to an embodiment of the present disclosure
  • Fig. 4 shows a schematic diagram of the application of the vehicle positioning system according to an embodiment of the present disclosure
  • Fig. 5 shows a flowchart of a vehicle positioning method according to an embodiment of the present disclosure
  • FIG. 6A shows a block diagram of a vehicle control device according to an embodiment of the present disclosure
  • FIG. 6B shows a block diagram of a vehicle positioning device according to an embodiment of the present disclosure
  • FIG. 7 shows a block diagram of an electronic device according to an embodiment of the present disclosure.
  • FIG. 8 shows a block diagram of an electronic device according to an embodiment of the present disclosure.
  • the dedicated word "exemplary” here means “serving as an example, embodiment, or illustration.” Any embodiment described herein as “exemplary” need not be construed as being superior or better than other embodiments.
  • the term “and/or” in this text is only an association relationship describing the associated objects, indicating that there can be three relationships, for example, a1 and/or b1, which can mean: a1 exists alone, a1 and b1 exist at the same time, and exists alone b1 these three cases.
  • the term "at least one” in this document means any one or any combination of at least two of the multiple, for example, including at least one of a1, b1, and c1, and may mean including a1, Any one or more elements selected in the set formed by b1 and c1.
  • the track of the vehicle model in the related art is a physical track.
  • the vehicle model is based on sensors or computer vision methods to determine its position in the physical runway in real time and determine the location of obstacles, so as to adjust the position of the vehicle model according to the location of the obstacles.
  • the physical runway has the following shortcomings: 1) the economic cost of replacing the physical runway is higher; 2) the time cost of building the physical runway is higher; 3) the size of the physical runway is related to the size of the vehicle model.
  • the size of the physical track cannot be adjusted according to the size of the vehicle model. It can be seen that the size flexibility of the physical track in the related technology is not enough, which limits the promotion of vehicle model competitions to a certain extent. For example, in an education project, a vehicle model needs to be equipped with multiple different racetracks, therefore, it will increase the financial burden of the education project.
  • FIG. 1 shows a block diagram of a vehicle positioning system according to an embodiment of the present disclosure.
  • the system includes: a virtual track display device 11, an image acquisition device 12, and a processor 13.
  • the virtual track display device 11 is configured to display A virtual runway; an image acquisition device 12 is located above the virtual runway, and is configured to acquire a target image during a target vehicle driving on the virtual runway; the processor 13 is connected to the image acquisition device or is built in the image acquisition
  • the device is configured to: determine the first location information of the target vehicle in the virtual runway according to the target image; send the first location information to the target vehicle, so that the target vehicle drives on the virtual runway according to the first location information.
  • the virtual runway can be displayed through the virtual runway display device, multiple runways can be designed for the target vehicle, the cost of the runway is reduced, the time for the runway is not required, and the runway route is improved. flexibility.
  • the processor can determine the first position information of the target vehicle according to the target image of the target vehicle driving on the virtual runway, enabling the target vehicle to determine its position on the runway in real time, and then accurately driving on the virtual runway, so that the target vehicle itself There is no need to record and adapt to the virtual runway, which simplifies the calculation of the target vehicle in the driving process.
  • the processor 13 may be a single-chip microcomputer, a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), a CPU (Central Processing Unit, and a central processing unit). Processor), GPU (Graphics Processing Unit, graphics processor) and other computing devices, the embodiment of the present disclosure does not limit the type of vehicle controller.
  • DSP Digital Signal Processor
  • FPGA Field-Programmable Gate Array
  • CPU Central Processing Unit
  • GPU Graphics Processing Unit, graphics processor
  • other computing devices the embodiment of the present disclosure does not limit the type of vehicle controller.
  • the virtual runway display device 11 can display a pattern of the virtual runway.
  • the virtual runway display device 11 may be a display device that can display a pattern of the virtual runway.
  • the virtual runway display device 11 includes an AR (Augmented Reality, augmented reality) device, and the augmented reality device is configured to display the virtual runway in the augmented reality AR interface.
  • the virtual track display device 11 includes a projection device configured to project a pattern of the virtual track.
  • the projection device may include a projector, or a projector and a projection plane, the projector being configured to project the pattern of the virtual racetrack on the projection plane.
  • the pattern of a virtual runway can be stored in the projector, and the projection plane can be a projection screen or an actual field, which can be used to display the pattern projected by the projector, that is, to display the pattern of the virtual runway.
  • FIG. 2 shows a schematic diagram of a virtual runway according to an embodiment of the present disclosure.
  • the virtual runway display device 11 can display a virtual runway on a display plane, for example, the runway 20 in FIG. 2, which can be a projection
  • the instrument projects the pattern of the virtual runway on the projection plane, and the target vehicle can drive on the virtual runway.
  • the virtual runway display device 11 is further configured to determine the size of the virtual runway according to the size of the target vehicle, the size of the target vehicle includes the width of the target vehicle, and the size of the virtual runway includes the width of the runway.
  • the target vehicle is a vehicle model with a width of 20 cm.
  • the virtual track display device 11 can adaptively determine the width of the track according to the width of the target vehicle.
  • the virtual track may be a two-lane track, with each lane
  • the width of can be greater than the width of the target vehicle, for example, 30cm, the width of the virtual runway is 60cm.
  • the embodiments of the present disclosure do not impose restrictions on the width of the target vehicle and the width of the virtual track.
  • the size of the target vehicle may also include the length of the target vehicle, and the size of the virtual runway may also include the turning radius of the curve in the virtual runway, for example, if the length of the target vehicle is long and the virtual runway If the turning radius of the middle curve is small, the target vehicle may not be able to pass the curve. Therefore, the virtual track display device 11 will set the turning radius of the curve according to the length of the target vehicle, so that the target vehicle can pass the curve.
  • the size of the target vehicle may also include the height of the target vehicle, and the size of the virtual runway may also include the total length of the virtual runway, etc. The embodiment of the present disclosure does not limit the size of the target vehicle and the size of the virtual runway.
  • the virtual runway display device 11 is configured to: obtain a field image for displaying the virtual runway field; obtain field information according to the field image, where the field information includes the size of the field; according to the field information and the target The size of the vehicle determines the size of the virtual track and the pattern of the virtual track.
  • the image acquisition device 12 can take a field image and send it to the virtual runway display device 11, or the user can input the field image or venue information into the virtual runway display device 11.
  • the virtual runway display device 11 can obtain the venue information, for example, the size of the venue is used as the basis for the scale of the virtual runway. If the size of the venue is larger, a larger-scale virtual runway can be used, for example, the runway A virtual runway with a more complex route and/or a longer total route length. Conversely, a smaller-scale virtual runway can be used.
  • the virtual runway display device 11 can determine the size and pattern of the virtual runway according to the site information and the size of the target vehicle. For example, the width of the target vehicle can be used as the basis for the width of the runway. After the width of the runway is determined, the pattern of the virtual runway can be selected according to the size of the field. For example, if the width of the runway is large but the field size is small, only the larger pattern can be used. Simple, small-scale virtual runway.
  • the pattern of the virtual runway can be automatically generated by the virtual runway display device 11 or the processor 13 according to site information, or can be a template pattern pre-stored in the virtual runway display device 11, or the virtual runway display device 11 or the processor 13 can be Automatically generated according to user-defined information (such as n curves, k obstacles, etc.).
  • the processing of determining the size and pattern of the virtual runway can be completed by the processor 13, and the processor 13 is further configured to: obtain site information and the size of the target vehicle; The size of the vehicle determines the size of the virtual runway and the pattern of the virtual runway, and sends it to the virtual runway display device.
  • the way the processor 13 determines the size and pattern of the virtual runway can be the same as that of the virtual runway display device 11 described above, and will not be repeated here.
  • the size of the virtual runway can be adapted to the size of the target vehicle. If the target vehicle is changed, the size of the virtual runway can be easily adjusted without repurchasing or building a new runway, saving costs and improving the use of the virtual runway. Convenience.
  • the image acquisition device 12 may include a camera, which may be located above the virtual runway and photograph the virtual runway.
  • the camera may capture the image of the target vehicle driving on the virtual runway.
  • Target image the image acquisition device 12 and the virtual runway display device 11 will not block each other.
  • the display plane of the virtual runway display device 11 may be a horizontal plane, and the camera may be located above the display plane to capture the entire virtual runway.
  • the virtual runway display device 11 may include a projector and a projection plane, and the camera may be set near the projector to capture a complete virtual runway projected by the projector on the projection plane.
  • the embodiment of the present disclosure does not limit the location of the image acquisition device 12.
  • the processor 13 may be connected to the camera 12, or the processor 13 may be built in the camera 12.
  • the processor 13 may obtain the target image and compare the target image To process.
  • the processor 13 may detect the target vehicle in the target image through a detection method such as a neural network, and determine the first position information of the target vehicle in the virtual runway.
  • the first position information may be the relative position of the target vehicle and the route of the virtual runway. For example, the target vehicle is at the start of the virtual runway, the target vehicle is at the first curve of the virtual runway, and the target vehicle is on the virtual runway. At the second intersection, the target vehicle is at the end of the virtual runway, etc.
  • the embodiment of the present disclosure does not limit the first position information.
  • the first position information may also be relative position information such as the offset between the target vehicle and the centerline of the lane, or an image of a preset range (for example, within 2 meters) in the direction of travel of the target vehicle (which may include the Target vehicle) and other image information.
  • the processor 13 may determine the first position information of the target vehicle in the virtual runway according to the target image, and this step may include: determining the target according to the target image The offset of the vehicle from the centerline of the lane in the virtual runway; and the first position information is generated according to the offset.
  • the processor 13 may use the first position information to cause the target vehicle to drive on the lane of the virtual runway.
  • the target vehicle can drive forward. If the virtual runway has a curve, the lane of the target vehicle relative to the virtual runway will be offset. That is, if the target vehicle is traveling forward in a straight line, it will not be able to stay in the lane.
  • the device 13 can calculate the first position information according to the positional relationship between the target vehicle and the center line of the lane in the target image, that is, the offset of the center of the target vehicle relative to the center line of the lane, and send the first position information to the target vehicle , So that the target vehicle calculates the travel direction, travel speed, or travel path based on the offset, and controls the travel of the target vehicle, so that the target vehicle is kept traveling in the lane.
  • the processor 13 may determine the first position information of the target vehicle in the virtual runway according to the target image, and this step may include: determining the target according to the target image An image within a preset range in the traveling direction of the vehicle; and the first position information is generated according to the image within the preset range.
  • the processor 13 may use the first position information to cause the target vehicle to drive along the lane of the virtual runway.
  • the first position information may represent the position image of the target vehicle in the virtual runway.
  • the processor 13 uses an image (for example, containing at least part of the target vehicle's image) in a preset range (for example, within 3 meters) in the traveling direction of the target vehicle as The first location information is sent to the target vehicle.
  • the target vehicle can plan a path according to the image and control the target vehicle to drive along the planned path, that is, drive along the lanes of the virtual runway.
  • the first location information may also directly include a vehicle control instruction, for example, a vehicle control instruction that includes next location information of the vehicle.
  • a vehicle control instruction that includes next location information of the vehicle.
  • the processor 13 can locate the position of the target vehicle according to the target image obtained in real time, and then calculate the relative position offset of the target vehicle on the virtual runway according to the virtual track pattern, and directly generate vehicle control instructions, such as vehicle travel direction, speed, At least one of the route and the next location information is an instruction, and the instruction is sent to the target vehicle, so that the target vehicle drives on the virtual track according to the instruction.
  • the information returned by the processor 13 to the target vehicle can be freely combined according to the conditions of the target vehicle and actual needs.
  • the system further includes a target vehicle, and the target vehicle is configured to drive on a virtual runway at least according to the first position information.
  • the first position information includes the offset of the target vehicle from the center line of the lane or an image within a preset range in the traveling direction of the target vehicle.
  • the target vehicle can generate a control instruction according to the first position information to control the target vehicle in a virtual Driving in the lane of the runway.
  • the target vehicle is configured to: determine the travel path of the target vehicle according to the offset; or, determine the travel path of the target vehicle according to an image within a preset range in the direction of travel of the target vehicle. The driving path of the target vehicle.
  • the target vehicle may determine the travel path of the target vehicle according to the offset between the target vehicle and the centerline of the lane. For example, the target vehicle calculates the travel direction, travel speed or travel path according to the offset, That is, the target vehicle is made to reduce the amount of offset by means of steering, etc., so that the body of the target vehicle is kept in the lane.
  • the target vehicle can determine the travel path according to an image within a preset range in the direction of the target vehicle. For example, the target vehicle can plan the path according to the pattern of the virtual runway in the image, so that the target vehicle’s The path is consistent with the pattern of the virtual track, that is, the target vehicle is driven on the virtual track.
  • obstacles can also be set in the virtual runway, for example, obstacles can be placed on the display plane, or a pattern of obstacles can be set in the pattern of the virtual runway.
  • the processor 13 can also detect the location of the obstacle and send it to the target vehicle so that the target vehicle can avoid the obstacle.
  • the processor 13 is further configured to: obtain the second position information of the obstacle according to the target image; send the second position information to the target vehicle 21, so that the target vehicle 21 is based on the first position information and the first position information. 2.
  • the position information is driving in the virtual runway.
  • the second location information may be the location coordinates of the obstacle in the virtual runway
  • the first location information may be the location coordinates of the target vehicle in the virtual runway
  • the target vehicle may receive the first location information and After the second location information, the relative position relationship between the target vehicle and the obstacle can be located according to the first location information and the second location information, so that control instructions can be generated, such as generating an evasion route and controlling the target vehicle to drive along the evasion route, so that The target vehicle avoids obstacles and drives in the lane of the virtual runway.
  • control instructions can be generated, such as generating an evasion route and controlling the target vehicle to drive along the evasion route, so that The target vehicle avoids obstacles and drives in the lane of the virtual runway.
  • the target vehicle can obtain the target image and the position of the detectable obstacle in real time, thereby having the ability to avoid obstacles and improving the performance of the target vehicle.
  • the second position information of the obstacle may be the relative position of the obstacle and the route of the virtual runway.
  • the obstacle is at the first curve of the virtual runway, and the obstacle is on the virtual runway. Wait at the second intersection.
  • the second position information of the obstacle may also include information about the lane where the obstacle is located and size information of the obstacle, or the second position information of the obstacle may also directly be the relative position of the target vehicle and the obstacle. The target vehicle can use the second position information to locate the obstacle position, thereby controlling the target vehicle to avoid the obstacle.
  • the processor 13 may detect an obstacle in the target image by a detection method such as a neural network, and determine the second position information of the obstacle.
  • the location information is sent to the target vehicle.
  • the vehicle controller of the target vehicle may receive the second location information, determine the travel path according to the first location information and the second location information, and drive according to the travel path.
  • the vehicle controller may determine the driving path according to the first position information.
  • the driving path of the target vehicle in the virtual runway may be determined according to the route of the virtual runway. In the case of objects, the driving path can be determined based on the second location information.
  • the vehicle controller can determine to make the target vehicle drive to the other lane to avoid the obstacle , After avoiding the obstacle, make the target vehicle drive back to the driving path of the original lane. If the target vehicle follows this path, it can avoid the obstacle in another lane.
  • the vehicle controller may simultaneously determine the travel path based on the first location information and the second location information.
  • a virtual runway may have a forked road, and the forked road may include two or more roads.
  • the vehicle controller can determine the road where the obstacle is located according to the second position information, determine the driving path to avoid the road, and determine the driving path to enter other roads according to the first position information, If the target vehicle travels along this path, it can avoid obstacles on a road without obstacles and choose a road with no obstacles to drive.
  • the embodiment of the present disclosure does not limit the way of determining the travel path.
  • the processing of controlling the target vehicle may be executed by the processor 13, that is, the processor 13 may remotely control the driving of the target vehicle according to the first position information, or the first position information and the second position information.
  • the processor 13 is further configured to: generate a vehicle control instruction at least according to the first position information; send the vehicle control instruction to the target vehicle, so that the target vehicle is in the virtual track according to the vehicle control instruction Driving.
  • the processor 13 may calculate the offset of the target vehicle from the centerline of the lane in the virtual runway, and determine the driving direction of the target vehicle according to the offset, and may generate a vehicle control instruction for controlling the target vehicle to The target vehicle is controlled to drive in the lane in the direction of travel.
  • the processor 13 may plan a route within a preset distance in the travel direction of the target vehicle according to images within a preset range in the travel direction of the target vehicle, and generate a vehicle control instruction for the target vehicle to travel along the route. To control the target vehicle to drive in the lane along the route.
  • the processor 13 may also determine the second location information of the obstacle, and generate a vehicle control instruction based on the first location information and the second location information, so as to control the target vehicle to avoid the obstacle and stay in the lane without obstacles. Driving within.
  • the embodiment of the present disclosure does not limit the manner in which the processor 13 controls the target vehicle.
  • the embodiment of the present disclosure also proposes a vehicle control method.
  • the execution subject of the method can be a vehicle control device, such as a terminal, a remote control device, a server, a smart car, etc.
  • the method can also run a computer executable code through a processor carried out.
  • Fig. 3 shows a flowchart of a vehicle control method according to an embodiment of the present disclosure. As shown in Fig. 3, the method is applied to a vehicle controller.
  • the vehicle controller can be set on the target vehicle or remotely connected to the target vehicle (such as connecting via wired or wireless).
  • the method includes:
  • step S11 receive the first position information sent by the vehicle positioning system
  • step S12 determine the driving path of the target vehicle in the virtual runway according to the first position information
  • step S13 the target vehicle is controlled to travel along the travel path.
  • the vehicle positioning system can refer to the vehicle positioning system described in the embodiments of the present disclosure, which will not be repeated this time.
  • the vehicle controller may be an arithmetic device such as a single-chip microcomputer, DSP, FPGA, CPU, etc.
  • the embodiment of the present disclosure does not limit the type of the vehicle controller.
  • the target vehicle may receive the first position information sent by the vehicle positioning system.
  • the target vehicle may determine the travel path according to the first position information.
  • the first position information includes the offset of the target vehicle from the center line of the lane
  • step S12 may include: determining the offset of the target vehicle from the center line of the lane in the virtual runway according to the first position information ; According to the offset, determine the driving path of the target vehicle.
  • the vehicle controller can obtain the offset according to the first position information, and determine the left or right turn amplitude of the target vehicle according to the lane offset, and perform corresponding control.
  • the target vehicle can be controlled to decrease by steering. Drive in the offset direction to keep the target vehicle in the lane, or directly determine the path of the target vehicle.
  • the first position information includes an image within a preset range in the traveling direction of the target vehicle
  • step S12 may include: determining an image within a preset range in the traveling direction of the target vehicle according to the first position information, as described above
  • the virtual track is a route within a preset distance in the direction of travel of the target vehicle; and the driving path of the target vehicle is determined according to the image within the preset range.
  • the target vehicle may perform path planning according to the pattern of the virtual track in the image, so that the path of the target vehicle is consistent with the pattern of the virtual track, that is, the target vehicle is driven on the virtual track.
  • the target vehicle may travel according to the driving path.
  • the vehicle controller may control the power system and steering system of the target vehicle to make the target vehicle travel according to the driving path.
  • the target vehicle can pass the above-mentioned left-turn lane.
  • the method further includes: receiving second location information of the obstacle sent by a vehicle positioning system; and determining that the target vehicle is located according to the first location information and the second location information.
  • the vehicle controller may determine the travel path of the target vehicle according to the first location information and the second location information of the obstacle, and determine a travel path that can avoid the obstacle and travel in a lane without obstacles. And control the power system and steering system of the target vehicle to make the target vehicle drive according to the driving path.
  • the method further includes: receiving a vehicle control instruction sent by the vehicle positioning system; and controlling the target vehicle to travel according to the vehicle control instruction.
  • the target vehicle only needs to receive the remote control of the processor 13 in the vehicle positioning system to drive along the driving path.
  • the virtual runway can be displayed through the virtual runway display device, multiple runways can be designed for the target vehicle, and the size of the virtual runway can be adapted to the size of the target vehicle. If the target vehicle is changed, The size of the virtual runway can be easily adjusted without repurchasing or building a new runway, which reduces the cost of the runway and improves the flexibility of the runway route.
  • the processor can determine the first position information of the target vehicle according to the target image of the target vehicle driving on the virtual runway, allowing the target vehicle to determine its position on the runway in real time, and then accurately drive on the virtual runway and pass the second
  • the location information enables the target vehicle to have the ability to avoid obstacles and improve the performance of the target vehicle.
  • the target vehicle itself does not need to record and adapt to the virtual runway, which simplifies the calculation of the target vehicle in the driving process.
  • FIG. 4 shows a schematic diagram of the application of the vehicle positioning system according to an embodiment of the present disclosure.
  • the vehicle positioning system may include a virtual runway display device, an image acquisition device, and a processor.
  • the virtual runway display device includes a projector,
  • the pattern of the virtual runway can be saved in the projector, and the projection plane can be a projection screen or an actual field, which can be used to show the pattern of the virtual runway projected by the projector.
  • the size of the virtual runway can be adjusted by adjusting the distance between the projector and the projection plane, so that the width of the virtual runway is adapted to the width of the target vehicle.
  • the width of the target vehicle is 20 cm
  • the virtual runway may be a two-lane runway
  • 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 width of the virtual runway is 60 cm.
  • the image acquisition device may include a camera, which may be arranged below or adjacent to the projector, etc., which can capture a complete image of the virtual runway and a position where it does not block each other with the projector.
  • the camera can capture the target image of the target vehicle driving on the virtual runway in real time, and can send the target image to the processor.
  • the processor can determine the target vehicle's position in the virtual runway in real time according to the target image.
  • the first position information such as the offset of the target vehicle from the centerline of the lane in the virtual runway or the image within the preset range in the direction of travel of the target vehicle, is sent to the target vehicle in real time, so that the target vehicle can use the first position information in real time Determine the driving route.
  • the processor may detect the target vehicle in the target image through a detection method such as a neural network, and determine the first position information of the target vehicle in the virtual runway, for example, the route between the target vehicle and the virtual runway According to the relative position of the target vehicle, the vehicle controller of the target vehicle can determine the route of the virtual runway, and then determine the driving path of the target vehicle. For example, the target vehicle is turning on the virtual runway, that is, the route of the virtual runway is turning Route, it is determined that the driving path of the vehicle is the turning path. In some embodiments of the present disclosure, the vehicle controller may control the power system, steering system, etc. of the target vehicle, so that the target vehicle may follow the driving path, for example, may follow the driving path and drive through a curve.
  • a detection method such as a neural network
  • obstacles can also be set in the virtual runway, for example, obstacles can be placed on the display plane, or a pattern of obstacles can be set in the pattern of the virtual runway.
  • the processor can detect the first location information of the target vehicle and the second location information of the obstacle in the target image, and send the first location information and the second location information to the vehicle controller of the target vehicle, and the vehicle controller can be based on The first location information and the second location information determine a travel path that can avoid obstacles.
  • the virtual runway may have two lanes, and obstacles may be set on one lane of the virtual runway.
  • the vehicle controller may use the first The location information travels along the lane.
  • the target vehicle can drive to another lane to avoid the obstacle.
  • the target vehicle You can drive back to the original lane.
  • the virtual runway may have a bifurcated road, the bifurcated road may include two or more roads, the obstacle is set on one of the roads, and the vehicle controller may determine the location of the obstacle according to the second position information. And drive to other roads based on the first location information to avoid the obstacle.
  • the above-mentioned vehicle positioning system can be used in vehicle model competitions or teaching and other fields, which can save the time and cost of building a runway, and the target vehicle itself does not need to record and adapt to the virtual runway, which simplifies the target vehicle's driving Operation in the process.
  • the embodiments of the present disclosure do not limit the application field of the vehicle positioning system.
  • FIG. 5 shows a flowchart of a vehicle positioning method according to an embodiment of the present disclosure.
  • the execution subject of the vehicle positioning method may be a vehicle positioning device, such as the vehicle positioning system of the embodiment of the present disclosure, or the processor in the vehicle positioning system, and Or a terminal, a remote control device, a server, etc., in addition, the method can also be executed by a processor running a computer executable code.
  • the method includes:
  • step S21 the first position information of the target vehicle in the virtual runway is determined according to the target image, where the virtual runway is the runway displayed by the virtual runway display device, and the target image is the target vehicle acquired by the image acquisition device An image of driving in the virtual runway;
  • step S22 the first position information is sent to the target vehicle, so that the target vehicle drives on the virtual track according to the first position information.
  • the method further includes: acquiring second location information of the obstacle according to the target image; sending the second location information to the target vehicle, so that the target vehicle is The first position information and the second position information travel in the track pattern.
  • the method further includes: obtaining a field image for displaying a virtual runway field through the virtual runway display device; obtaining field information according to the field image, where the field information includes The size of the field; the size of the virtual runway and the pattern of the virtual runway are determined according to the field information and the size of the target vehicle.
  • the method further includes: obtaining site information and the size of the target vehicle; determining the size of the virtual runway and the size of the virtual runway according to the site information and the size of the target vehicle The pattern is sent to the virtual track display device.
  • the method further includes: generating a vehicle control instruction according to at least the first position information; sending the vehicle control instruction to the target vehicle, so that the target vehicle is based on the vehicle Control instructions to travel in the track pattern.
  • determining the first position information of the target vehicle in the virtual runway according to the target image includes: determining the deviation of the target vehicle from the center line of the lane in the virtual runway according to the target image Shift; according to the shift, the first position information is generated.
  • determining the first position information of the target vehicle in the virtual runway according to the target image includes: determining the image within a preset range in the traveling direction of the target vehicle according to the target image; Generating the first position information from the image within the preset range.
  • the embodiment of the present disclosure proposes a vehicle positioning method, which is applied to a vehicle positioning system.
  • the system includes a projector, a camera, and a processor.
  • the target vehicle is taken as an example for illustration.
  • the method includes: in step S31, The pattern of the virtual runway is projected on the projection plane; here, a projector and the projection plane are needed to project the pattern of the virtual runway.
  • Figure 2 shows the projected virtual racetrack pattern.
  • step S41 the camera captures the pattern of the virtual runway and the car on the virtual runway;
  • the processor can locate the global position of the car and the position of the obstacle according to the pattern of the virtual runway and the car captured by the camera.
  • the processor can calculate the relative position offset of the trolley on the virtual runway according to the pattern of the virtual runway, and directly generate the control instruction of the trolley.
  • step S51 the trolley performs feedback adjustment based on the received position information.
  • the embodiment of the present disclosure locates the global position of the car and the position of the obstacle according to the pattern of the virtual runway and the car on the virtual runway, realizes the accurate detection of obstacles and estimates the relative position of the car and the virtual runway, and detects The information and estimated information are transmitted to the car in real time, so that the car can adjust the driving path in real time based on the detection information and estimated information.
  • the usage scenario of the embodiment of the present disclosure can be one of the following: 1) Getting started with car development. 2) Insufficient funds to purchase physical platforms. 3) It is necessary to develop trolleys of different sizes at the same time, and a track that matches the trolleys of different sizes is required.
  • the embodiments of the present disclosure use computer vision detection algorithms for position estimation; an operating platform based on global positioning and real-time information reduces the time and economic cost of runway construction, and enhances the flexibility and replacement convenience of the runway; projectors and projection planes The cooperation ensures that the projector can automatically adjust according to the size of the projection plane and the size of the car to project a reasonable runway pattern; the camera can obtain the global position of the car, including information about obstacles; the camera and the car can communicate in real time; the computer The vision algorithm can complete accurate obstacle detection and estimation of the relative position of the car and the virtual runway.
  • the economic and time cost of the runway can be reduced, the flexibility is strong, and the promotion of the car is convenient; at the same time, the computer vision algorithm is better used for position estimation, so that the car can adjust the driving path in real time based on the detection information and the estimated information ; In addition, the diversity of the runway is enriched, thereby enhancing the developability of the trolley.
  • Fig. 6A shows a block diagram of a vehicle control device 100 according to an embodiment of the present disclosure.
  • the device 100 includes: a first receiving module 11 configured to receive a first receiving module of the target vehicle sent by a vehicle positioning system; Location information; a first determining module 12 configured to determine the driving path of the target vehicle in a virtual runway according to the first location information; a first driving module 13 configured to control the target vehicle to follow the driving path Driving.
  • the first determining module is further configured to: determine the offset of the target vehicle from the centerline of the lane in the virtual runway according to the first position information; The offset determines the travel path of the target vehicle.
  • the first determining module is further configured to: determine an image within a preset range in the traveling direction of the target vehicle according to the first position information; Image to determine the driving path of the target vehicle.
  • the device further includes: a second receiving module configured to receive a vehicle control instruction sent by the vehicle positioning system; a control module configured to control the target according to the vehicle control instruction The vehicle is moving.
  • the device further includes: a third receiving module configured to receive second location information of the obstacle sent by the vehicle positioning system; and a second determining module configured to receive the second location information of the obstacle according to the first location information And the second location information to determine the driving path of the target vehicle in the virtual runway; the second driving module is configured to control the target vehicle to travel according to the driving path.
  • the device 200 includes: a third determining module 21 configured to determine the first position of the target vehicle in the virtual track according to the target image.
  • Location information wherein the virtual runway is a runway displayed by a virtual runway display device, and the target image is an image of the target vehicle driving on the virtual runway acquired by an image acquisition device;
  • the first sending module 22 is configured to The first position information is sent to the target vehicle, so that the target vehicle drives on the virtual track according to the first position information.
  • the device further includes: a first acquiring module configured to acquire second position information of an obstacle according to the target image; a second sending module configured to acquire the second position information Sending to the target vehicle, so that the target vehicle travels in the track pattern according to the first position information and the second position information.
  • the device further includes: a second acquiring module configured to acquire a field image for displaying a virtual track field through the virtual track display device; a third acquiring module configured to acquire a field image according to the virtual track display device; A site image to obtain site information, where the site information includes the size of the site; a fourth determining module is configured to determine the size of the virtual runway and the pattern of the virtual runway according to the site information and the size of the target vehicle.
  • the device further includes: a fourth acquiring module configured to acquire site information and the size of the target vehicle; and a fifth determining module configured to acquire the site information and the size of the target vehicle , Determine the size of the virtual runway and the pattern of the virtual runway, and send them to the virtual runway display device.
  • the device further includes: a generating module configured to generate a vehicle control instruction at least according to the first position information; a third sending module configured to transmit the vehicle control instruction to the The target vehicle makes the target vehicle drive in the track pattern according to the vehicle control instruction.
  • the third determining module is further configured to: determine the offset of the target vehicle from the center line of the lane in the virtual runway according to the target image; The amount of movement to generate the first position information.
  • the third determining module is further configured to: determine an image within a preset range in the traveling direction of the target vehicle according to the target image; according to the image within the preset range , Generating the first location information.
  • the writing order of the steps does not mean a strict execution order but constitutes any limitation on the implementation process.
  • the specific execution order of each step should be based on its function and possibility.
  • the inner logic is determined.
  • the functions or modules contained in the device provided in the embodiments of the present disclosure can be configured to execute the methods described in the above method embodiments.
  • the embodiments of the present disclosure also provide a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions implement the above-mentioned method when executed by a processor.
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium.
  • the embodiments of the present disclosure also provide a computer program product, including computer readable code.
  • the processor in the electronic device executes instructions for implementing the method provided in any of the above embodiments. .
  • the embodiments of the present disclosure also provide another computer program product for storing computer-readable instructions, which when executed, cause the computer to perform the operations of the method provided in any of the foregoing embodiments.
  • the computer program product can be implemented by hardware, software, or a combination thereof.
  • the computer program product is embodied as a computer storage medium.
  • the computer program product is embodied as a software product, such as a software development kit (SDK) and so on.
  • SDK software development kit
  • An embodiment of the present disclosure also provides an electronic device, including: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured as the above method.
  • the electronic device can be provided as a terminal, server or other form of device.
  • Fig. 7 is a block diagram showing an electronic device 800 according to an exemplary embodiment.
  • the electronic device 800 may be a mobile phone, a computer, a digital broadcasting terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and other terminals.
  • the electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, and a sensor component 814 , And communication component 816.
  • the processing component 802 generally controls the overall operations of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • the processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the foregoing method.
  • the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components.
  • the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.
  • the memory 804 is configured to store various types of data to support operations in the electronic device 800. Examples of these data include instructions for any application or method operating on the electronic device 800, contact data, phone book data, messages, pictures, videos, etc.
  • the memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination of them, such as SRAM (Static Random-Access Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), Erase Programmable Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), PROM (Programmable Read-Only Memory, Programmable Read-Only Memory), ROM (Read-Only Memory, only Read memory), magnetic memory, flash memory, magnetic disk or optical disk.
  • the power supply component 806 provides power for various components of the electronic device 800.
  • the power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.
  • the multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user.
  • 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 input signals from the user.
  • the touch panel includes one or more touch sensors to sense touch, sliding, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure related to the touch or slide operation.
  • the 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 shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data.
  • the audio component 810 is configured to output and/or input audio signals.
  • the audio component 810 includes a microphone (MIC).
  • the microphone 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 is configured to receive external audio signals.
  • the received audio signal may be stored in the memory 804 or transmitted via the communication component 816.
  • the audio component 810 further includes a speaker configured to output audio signals.
  • the I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module.
  • the above-mentioned peripheral interface module may be a keyboard, a click wheel, a button, and the like.
  • the sensor component 814 includes one or more sensors configured to provide the electronic device 800 with various aspects of state assessment. For example, the sensor component 814 can detect the on/off status of the electronic device 800 and the relative positioning of the components. For example, the component is the display and the keypad of the electronic device 800. The sensor component 814 can also detect the electronic device 800 or the electronic device 800. The position of the component changes, the presence or absence of contact between the user and the electronic device 800, the orientation or acceleration/deceleration of the electronic device 800, and the temperature change of the electronic device 800.
  • the sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects when there is no physical contact.
  • the sensor component 814 may also include a light sensor, such as a CMOS or CCD image sensor, configured for use in imaging applications.
  • the sensor component 814 may also 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 wired or wireless communication between the electronic device 800 and other devices.
  • the electronic device 800 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof.
  • the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component 816 further includes an NFC (Near Field Communication) module to facilitate short-range communication.
  • the NFC module can be based on RFID (Radio Frequency Identification) technology, IrDA (Infrared Data Association) technology, UWB (Ultra Wide Band) technology, BT (Bluetooth, Bluetooth) technology and other technologies. Technology to achieve.
  • the electronic device 800 may be configured by one or more of ASIC (Application Specific Integrated Circuit), DSP, DSPD (Digital Signal Processor Device, digital signal processing device), PLD (Programmable Logic Device, Programmable logic device), FPGA, controller, microcontroller, microprocessor or other electronic components are used to implement the above method.
  • ASIC Application Specific Integrated Circuit
  • DSP Digital Signal Processor Device
  • DSPD Digital Signal Processor Device
  • PLD Programmable Logic Device, Programmable logic device
  • FPGA field-programmable Logic Device
  • controller microcontroller
  • microprocessor or other electronic components are used to implement the above method.
  • a non-volatile computer-readable storage medium such as the memory 804 including computer program instructions, which can be executed by the processor 820 of the electronic device 800 to complete the foregoing method.
  • Fig. 8 is a block diagram showing an electronic device 1900 according to an exemplary embodiment.
  • the electronic device 1900 may be provided as a server.
  • the electronic device 1900 includes a processing component 1922, which includes one or more processors, and a memory resource represented by a memory 1932, configured to store instructions executable by the processing component 1922, such as application programs.
  • the application program stored in the memory 1932 may include one or more modules each corresponding to a set of instructions.
  • the processing component 1922 is configured to execute instructions to perform the above-described methods.
  • the electronic device 1900 may also include a power supply 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 an input output (I/O) interface 1958 .
  • the electronic device 1900 can operate based on an operating system stored in the memory 1932, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or the like.
  • a non-volatile computer-readable storage medium is also provided, such as the memory 1932 including computer program instructions, which can be executed by the processing component 1922 of the electronic device 1900 to complete the foregoing method.
  • the embodiments of the present disclosure may be systems, methods, and/or computer program products.
  • the computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for enabling a processor to implement various aspects of the embodiments of the present disclosure.
  • the computer-readable storage medium may be a tangible device that can hold and store instructions used by the instruction execution 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 of the foregoing.
  • Examples of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory) , Static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as punch card or The convex structure in the groove, and any suitable combination of the above.
  • the computer-readable storage medium used here is not interpreted as the instantaneous signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (for example, light pulses through fiber optic cables), or through wires Transmission of electrical signals.
  • the computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing/processing devices, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and/or a wireless network.
  • the network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • the network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network, and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing/processing device .
  • the computer program instructions used to perform the operations of the embodiments of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or one or more programming instructions.
  • Source code or object code written in any combination of languages, the programming language includes object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as "C" language or similar programming languages.
  • Computer-readable program instructions can be executed entirely on the user's computer, partly on the user's computer, executed as a stand-alone software package, partly on the user's computer and partly executed on a remote computer, or entirely on the remote computer or server carried out.
  • the remote computer can be connected to the user's computer through any kind of network-including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect to the user's computer) connection).
  • LAN local area network
  • WAN wide area network
  • an electronic circuit such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by using the status information of the computer-readable program instructions.
  • the computer-readable program instructions are executed to implement various aspects of the embodiments of the present disclosure.
  • These computer-readable program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine that makes these instructions when executed by the processor of the computer or other programmable data processing device , A device that implements the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams is produced. It is also possible to store these computer-readable program instructions in a computer-readable storage medium. These instructions make computers, programmable data processing apparatuses, and/or other devices work in a specific manner. Thus, the computer-readable medium storing the instructions includes An article of manufacture, which includes instructions for implementing various aspects of the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of an instruction, and the module, program segment, or part of an instruction contains one or more components for realizing the specified logical function.
  • Executable instructions may also occur in a different order than the order marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions.
  • the present disclosure relates to a vehicle positioning system and method, and a vehicle control method and device.
  • the system includes: a virtual track display device configured to display the virtual track; an image acquisition device configured to drive a target vehicle on the virtual track The target image is acquired in the process; the processor is configured to determine the first position information of the target vehicle in the virtual runway according to the target image; and send the first position information to the target vehicle.
  • the virtual runway can be displayed through the virtual runway display device, multiple runways can be designed for the target vehicle, the cost of the runway is reduced, the time for the runway is not required, and the runway route is improved. flexibility.
  • the target vehicle can determine its position on the runway in real time, and then accurately drive on the virtual runway, so that the target vehicle itself does not need to record and adapt to the virtual runway, which simplifies the calculation of the target vehicle in the driving process.

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Abstract

一种车辆定位系统及方法、车辆控制方法及装置，系统包括：虚拟跑道展示装置(11)，配置为展示虚拟跑道；图像获取装置(12)，配置为在目标车辆行驶于虚拟跑道的过程中获取目标图像；处理器(13)，配置为根据目标图像确定目标车辆在虚拟跑道中的第一位置信息；将第一位置信息发送至目标车辆。

Description

车辆定位系统及方法、车辆控制方法及装置
相关申请的交叉引用
本申请基于申请号为201910816312.2、申请日为2019年08月30日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此以引入方式并入本申请。
技术领域
本公开涉及计算机技术领域，尤其涉及一种车辆定位系统及方法、车辆控制方法及装置。
背景技术
车辆模型的研究成果可用于自动驾驶、车辆控制等诸多领域，但车辆模型的跑道通常为实体跑道，跑道的路线通常是固定的，且跑道的经济成本较高，跑道搭建需要一定时间。
发明内容
本公开提出了一种车辆定位系统及方法、车辆控制方法及装置。
本公开实施例提供了一种车辆定位系统，包括：虚拟跑道展示装置、图像获取装置及处理器，所述虚拟跑道展示装置配置为展示虚拟跑道；所述图像获取装置位于所述虚拟跑道的上方，配置为在目标车辆行驶于所述虚拟跑道的过程中获取目标图像；所述处理器与所述图像获取装置连接或内置于所述图像获取装置内，配置为：根据所述目标图像确定所述目标车辆在所述虚拟跑道中的第一位置信息；将所述第一位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息在所述虚拟跑道中行驶。
根据本公开的实施例的车辆定位系统，可通过虚拟跑道展示装置来展示虚拟跑道，可为目标车辆设计多个跑道，降低了跑道的成本，且不需要跑道搭建的时间，提升了跑道路线的灵活性。处理器可根据目标车辆在虚拟跑道中行驶的目标图像来确定目标车辆的第一位置信息，可使目标车辆实时确定其在跑道中的位置，进而准确地在虚拟跑道中行驶，使目标车辆本身无需记录和适应虚拟跑道，简化了目标车辆在行驶过程中的运算。
在一种可能的实现方式中，所述处理器还配置为：根据所述目标图像获取障碍物的第二位置信息；将所述第二位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息和所述第二位置信息在所述虚拟跑道中行驶。通过这种方式，可使目标车辆具备规避障碍物的能力，提高目标车辆的性能。
在一种可能的实现方式中，所述虚拟跑道展示装置包括投影装置，所述投影装置配置为将所述虚拟跑道的图案进行投影。
在一种可能的实现方式中，所述投影装置包括投影仪和投影平面，所述投影仪配置为将所述虚拟跑道的图案投影在所述投影平面上。
在一种可能的实现方式中，所述虚拟跑道展示装置包括增强现实装置，所述增强现 实装置配置为在增强现实界面中展示所述虚拟跑道。
在一种可能的实现方式中，所述虚拟跑道展示装置还配置为根据目标车辆的尺寸，确定虚拟跑道的尺寸，所述目标车辆的尺寸包括所述目标车辆的宽度，所述虚拟跑道的尺寸包括跑道宽度。
在一种可能的实现方式中，所述虚拟跑道展示装置配置为：获取用于展示虚拟跑道场地的场地图像；根据所述场地图像，获取场地信息，其中，所述场地信息包括场地的尺寸；根据所述场地信息以及目标车辆的尺寸确定所述虚拟跑道的尺寸及所述虚拟跑道的图案。
在一种可能的实现方式中，所述处理器还配置为：获取场地信息和目标车辆的尺寸；根据所述场地信息和所述目标车辆的尺寸，确定所述虚拟跑道的尺寸及所述虚拟跑道的图案，并发送至所述虚拟跑道展示装置。通过这种方式，可使虚拟跑道的尺寸与目标车辆的尺寸相适应，如果目标车辆更换，可方便地调整虚拟跑道的尺寸，无需重新购买或搭建新的跑道，节约成本，提高虚拟跑道的使用便利性。
在一种可能的实现方式中，所述处理器还配置为：至少根据所述第一位置信息生成车辆控制指令；将所述车辆控制指令发送至所述目标车辆，使得所述目标车辆根据所述车辆控制指令在所述虚拟跑道中行驶。
在一种可能的实现方式中，所述根据所述目标图像确定所述目标车辆在所述虚拟跑道中的第一位置信息，包括：根据所述目标图像，确定所述目标车辆在所述虚拟跑道中与车道中心线的偏移量；根据所述偏移量，生成所述第一位置信息。
在一种可能的实现方式中，所述根据所述目标图像确定所述目标车辆在所述虚拟跑道中的第一位置信息，包括：根据所述目标图像，确定所述目标车辆行进方向上预设范围内的图像；根据所述预设范围内的图像，生成所述第一位置信息。
在一种可能的实现方式中，所述系统还包括目标车辆，所述目标车辆配置为至少根据所述第一位置信息在虚拟跑道中行驶。
在一种可能的实现方式中，所述第一位置信息包括目标车辆在所述虚拟跑道中与车道中心线的偏移量或者目标车辆行进方向上预设范围内的图像。
在一种可能的实现方式中，所述目标车辆配置为：根据所述偏移量确定所述目标车辆的行驶路径；或者，根据所述目标车辆行进方向上预设范围内的图像确定所述目标车辆的行驶路径。
本公开实施例提供了一种车辆控制方法，包括：接收车辆定位系统发送的所述目标车辆的第一位置信息；根据所述第一位置信息，确定所述目标车辆在虚拟跑道中的行驶路径；控制所述目标车辆按照所述行驶路径行驶。
在一种可能的实现方式中，根据所述第一位置信息，确定所述目标车辆在虚拟跑道中的行驶路径，包括：根据所述第一位置信息，确定目标车辆在所述虚拟跑道中与车道中心线的偏移量；根据所述偏移量，确定所述目标车辆的行驶路径。
在一种可能的实现方式中，根据所述第一位置信息，确定所述目标车辆在虚拟跑道中的行驶路径，包括：根据所述第一位置信息，确定所述目标车辆行进方向上预设范围内的图像；根据所述预设范围内的图像，确定所述目标车辆的行驶路径。
在一种可能的实现方式中，所述方法还包括：接收所述车辆定位系统发送的车辆控 制指令；根据所述车辆控制指令，控制所述目标车辆行驶。
在一种可能的实现方式中，所述方法还包括：接收车辆定位系统发送的障碍物的第二位置信息；根据所述第一位置信息和所述第二位置信息，确定所述目标车辆在虚拟跑道中的行驶路径；控制所述目标车辆按照所述行驶路径行驶。
本公开实施例提供了一种车辆定位方法，包括：根据目标图像确定目标车辆在虚拟跑道中的第一位置信息，其中，所述虚拟跑道为虚拟跑道展示装置展示的跑道，所述目标图像为图像获取装置获取的所述目标车辆在所述虚拟跑道中行驶的图像；将所述第一位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息在所述虚拟跑道中行驶。
在一种可能的实现方式中，所述方法还包括：根据所述目标图像获取障碍物的第二位置信息；将所述第二位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息和所述第二位置信息在所述跑道图案中行驶。
在一种可能的实现方式中，所述方法还包括：通过所述虚拟跑道展示装置获取用于展示虚拟跑道场地的场地图像；根据所述场地图像，获取场地信息，其中，所述场地信息包括场地的尺寸；根据所述场地信息以及目标车辆的尺寸确定所述虚拟跑道的尺寸及所述虚拟跑道的图案。
在一种可能的实现方式中，所述方法还包括：获取场地信息和目标车辆的尺寸；根据所述场地信息和所述目标车辆的尺寸，确定所述虚拟跑道的尺寸及所述虚拟跑道的图案，并发送至所述虚拟跑道展示装置。
在一种可能的实现方式中，所述方法还包括：至少根据所述第一位置信息生成车辆控制指令；将所述车辆控制指令发送至所述目标车辆，使得所述目标车辆根据所述车辆控制指令在所述跑道图案中行驶。
在一种可能的实现方式中，根据目标图像确定目标车辆在虚拟跑道中的第一位置信息，包括：根据所述目标图像，确定所述目标车辆在所述虚拟跑道中与车道中心线的偏移量；根据所述偏移量，生成所述第一位置信息。
在一种可能的实现方式中，根据目标图像确定目标车辆在虚拟跑道中的第一位置信息，包括：根据所述目标图像，确定所述目标车辆行进方向上预设范围内的图像；根据所述预设范围内的图像，生成所述第一位置信息。
本公开实施例提供了一种车辆控制装置，所述装置包括：第一接收模块，配置为接收车辆定位系统发送的所述目标车辆的第一位置信息；第一确定模块，配置为根据所述第一位置信息，确定所述目标车辆在虚拟跑道中的行驶路径；第一行驶模块，配置为控制所述目标车辆按照所述行驶路径行驶。
本公开实施例提供了一种车辆定位装置，所述装置包括：第三确定模块，配置为根据目标图像确定目标车辆在虚拟跑道中的第一位置信息，其中，所述虚拟跑道为虚拟跑道展示装置展示的跑道，所述目标图像为图像获取装置获取的所述目标车辆在所述虚拟跑道中行驶的图像；发送模块，配置为将所述第一位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息在所述虚拟跑道中行驶。
本公开实施例提供了一种电子设备，包括：处理器；配置为存储处理器可执行指令的存储器；其中，所述处理器被配置为：执行上述方法。
本公开实施例提供了一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。
本公开实施例提供了一种计算机程序产品，包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行用于实现上述一个或多个实施例中服务器执行上述方法。
根据本公开的实施例的车辆定位系统，可通过虚拟跑道展示装置来展示虚拟跑道，可为目标车辆设计多个跑道，降低了跑道的成本，且不需要跑道搭建的时间，提升了跑道路线的灵活性。处理器可根据目标车辆在虚拟跑道中行驶的目标图像来确定目标车辆的第一位置信息，可使目标车辆实时确定其在跑道中的位置，进而准确地在虚拟跑道中行驶，使目标车辆本身无需记录和适应虚拟跑道，简化了目标车辆在行驶过程中的运算。
附图说明
图1示出根据本公开实施例的车辆定位系统的框图；
图2示出根据本公开实施例的虚拟跑道的示意图；
图3示出根据本公开实施例的车辆控制方法的流程图；
图4示出根据本公开实施例的车辆定位系统的应用示意图；
图5示出根据本公开实施例的车辆定位方法的流程图；
图6A示出根据本公开实施例的车辆控制装置的框图；
图6B示出根据本公开实施例的车辆定位装置的框图；
图7示出根据本公开实施例的电子装置的框图；
图8示出根据本公开实施例的电子装置的框图。
具体实施方式
以下将参考附图详细说明本公开的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，a1和/或b1，可以表示：单独存在a1，同时存在a1和b1，单独存在b1这三种情况。另外，本文中术语“至少一种”表示多种中的任意一种或多种中的至少两种的任意组合，例如，包括a1、b1、c1中的至少一种，可以表示包括从a1、b1和c1构成的集合中选择的任意一个或多个元素。
另外，为更好说明本公开实施例，在下文的具体实施方式中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本公开实施例同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本公开实施例主旨。
相关技术中车辆模型的跑道是实体跑道。车辆模型基于传感器或者计算机视觉的方法实时确定其在实体跑道中的位置并确定障碍物的位置，从而根据障碍物的位置调整车 辆模型的位置。然而，实体跑道存在以下缺点：1)更换实体跑道的经济成本较高；2)搭建实体跑道的时间成本较高；3)实体跑道的尺寸与车辆模型的尺寸相关。在更换车辆模型的情况下，实体跑道的尺寸无法根据车辆模型的尺寸进行调整。由此可知，相关技术中实体跑道的尺寸灵活性不够，一定程度上限制车辆模型类竞赛的推广。举例说明，在教育项目中，一辆车辆模型需要搭配多条不同的跑道，因此，会增加教育项目的经济负担。
图1示出根据本公开实施例的车辆定位系统的框图，如图1所示，所述系统包括：虚拟跑道展示装置11、图像获取装置12及处理器13，虚拟跑道展示装置11配置为展示虚拟跑道；图像获取装置12位于所述虚拟跑道的上方，配置为在目标车辆行驶于所述虚拟跑道的过程中获取目标图像；处理器13与所述图像获取装置连接或内置于所述图像获取装置内，配置为：根据目标图像确定目标车辆在虚拟跑道中的第一位置信息；将第一位置信息发送至目标车辆，使得目标车辆根据第一位置信息在虚拟跑道中行驶。
根据本公开的实施例的车辆定位系统，可通过虚拟跑道展示装置来展示虚拟跑道，可为目标车辆设计多个跑道，降低了跑道的成本，且不需要跑道搭建的时间，提升了跑道路线的灵活性。处理器可根据目标车辆在虚拟跑道中行驶的目标图像来确定目标车辆的第一位置信息，可使目标车辆实时确定其在跑道中的位置，进而准确地在虚拟跑道中行驶，使目标车辆本身无需记录和适应虚拟跑道，简化了目标车辆在行驶过程中的运算。
在一种可能的实现方式中，处理器13可以是单片机、DSP(Digital Signal Processor，数字信号处理器)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)、CPU(Central Processing Unit，中央处理器)、GPU(Graphics Processing Unit，图形处理器)等运算器件，本公开实施例对车辆控制器的类型不做限制。
在一种可能的实现方式中，虚拟跑道展示装置11可展示虚拟跑道的图案。例如，虚拟跑道展示装置11可以是显示装置，可显示虚拟跑道的图案。例如，虚拟跑道展示装置11包括AR(Augmented Reality，增强现实)装置，增强现实装置配置为在增强现实AR界面中展示虚拟跑道。又例如，虚拟跑道展示装置11包括投影装置，投影装置配置为将所述虚拟跑道的图案进行投影。该投影装置可包括投影仪，或者包括投影仪和投影平面，所述投影仪配置为将所述虚拟跑道的图案投影在所述投影平面上。例如，投影仪中可保存虚拟跑道的图案，投影平面可以是投影幕布或实际场地，可用于展示投影仪投影的图案，即，展示虚拟跑道的图案。
图2示出根据本公开实施例的虚拟跑道的示意图，如图2所示，虚拟跑道展示装置11可在展示平面上展示虚拟跑道，例如，图2中的跑道20，该虚拟跑道可以是投影仪投影在投影平面上的虚拟跑道的图案，目标车辆可在虚拟跑道上行驶。
在一种可能的实现方式中，虚拟跑道展示装置11还配置为根据目标车辆的尺寸，确定虚拟跑道的尺寸，目标车辆的尺寸包括目标车辆的宽度，虚拟跑道的尺寸包括跑道宽度。在示例中，目标车辆为车辆模型，其宽度为20cm，则虚拟跑道展示装置11可根据目标车辆的宽度，适应性地确定跑道的宽度，例如，虚拟跑道可以是双车道的跑道，每个车道的宽度可大于目标车辆的宽度，例如，30cm，则虚拟跑道的宽度为60cm。本公开实施例对目标车辆的宽度和虚拟跑道的宽度不做限制。
在一种可能的实现方式中，目标车辆的尺寸还可包括目标车辆的长度，虚拟跑道的 尺寸还可包括虚拟跑道中弯道的转弯半径，例如，如果目标车辆的长度较长，且虚拟跑道中弯道的转弯半径较小，则目标车辆可能无法通过该弯道，因此虚拟跑道展示装置11会根据目标车辆的长度，设置弯道转弯半径，使得目标车辆可通过弯道。目标车辆的尺寸还可包括目标车辆的高度，虚拟跑道的尺寸还可包括虚拟跑道的总长度等，本公开实施例对目标车辆的尺寸和虚拟跑道的尺寸不做限制。
在一种可能的实现方式中，虚拟跑道展示装置11配置为：获取用于展示虚拟跑道场地的场地图像；根据场地图像，获取场地信息，其中，场地信息包括场地的尺寸；根据场地信息以及目标车辆的尺寸确定所述虚拟跑道的尺寸及所述虚拟跑道的图案。
在一种可能的实现方式中，图像获取装置12可拍摄场地图像并发送至虚拟跑道展示装置11，或者，用户可将场地图像或场地信息输入虚拟跑道展示装置11。在获得场地图像或场地信息后，虚拟跑道展示装置11可获取场地信息，例如将场地的尺寸作为虚拟跑道的规模的依据，如果场地尺寸较大，可使用较大规模的虚拟跑道，例如，跑道路线较复杂和/或路线总长度较长的虚拟跑道。反之，可使用较小规模的虚拟跑道。
在一种可能的实现方式中，虚拟跑道展示装置11可根据场地信息和目标车辆的尺寸确定虚拟跑道的尺寸及图案。例如，目标车辆的宽度可作为跑道宽度的依据，在确定跑道宽度后，可根据场地尺寸来选择虚拟跑道的图案，例如，如果跑道宽度较大，但场地尺寸较小，则仅可使用图案较简单，规模较小的虚拟跑道。虚拟跑道的图案可以是虚拟跑道展示装置11或处理器13根据场地信息自动生成的，或者可以是预存在虚拟跑道展示装置11中的模板样式，又或者是虚拟跑道展示装置11或处理器13可以根据用户输入的自定义信息(如n个弯道、k个障碍物等)自动生成的。
在一种可能的实现方式中，确定虚拟跑道的尺寸和图案的处理可由处理器13来完成，处理器13还配置为：获取场地信息和目标车辆的尺寸；根据所述场地信息和所述目标车辆的尺寸，确定所述虚拟跑道的尺寸及所述虚拟跑道的图案，并发送至所述虚拟跑道展示装置。处理器13确定虚拟跑道的尺寸和图案的方式可与上述虚拟跑道展示装置11的方式相同，不再赘述。
通过这种方式，可使虚拟跑道的尺寸与目标车辆的尺寸相适应，如果目标车辆更换，可方便地调整虚拟跑道的尺寸，无需重新购买或搭建新的跑道，节约成本，提高虚拟跑道的使用便利性。
在一种可能的实现方式中，图像获取装置12可包括摄像头，该摄像头可位于虚拟跑道上方，拍摄虚拟跑道，目标车辆在虚拟跑道中行驶时，摄像头可拍摄到目标车辆在虚拟跑道中行驶的目标图像。其中，图像获取装置12与虚拟跑道展示装置11不会相互遮挡。例如，虚拟跑道展示装置11的展示平面可以是水平方向的平面，摄像头可位于展示平面的上方，可拍摄到完整的虚拟跑道。又例如，虚拟跑道展示装置11可包括投影仪和投影平面，摄像头可设置在投影仪附近，可拍摄到投影仪投影在投影平面上的完整的虚拟跑道。本公开实施例对图像获取装置12所在的位置不做限制。
在一种可能的实现方式中，处理器13可与摄像头12相连，或者处理器13内置于摄像头12中，在摄像头12拍摄到目标图像时，处理器13可获取该目标图像，并对目标图像进行处理。例如，处理器13可通过神经网络等检测方法在目标图像中检测到目标车辆，并确定目标车辆在虚拟跑道中的第一位置信息。在示例中，第一位置信息可以 是目标车辆与虚拟跑道的路线的相对位置，例如，目标车辆在虚拟跑道的起点，目标车辆在虚拟跑道的第1个弯道处，目标车辆在虚拟跑道的第2个路口处，目标车辆在虚拟跑道的终点处等，本公开实施例对第一位置信息不做限制。在另一种示例中，第一位置信息也可以是目标车辆与车道中心线的偏移量等相对位置信息，或者是目标车辆行进方向上预设范围(例如2米内)的图像(可包含该目标车辆)等图像信息。
在一种可能的实现方式中，处理器13可根据所述目标图像确定所述目标车辆在所述虚拟跑道中的第一位置信息，该步骤可包括：根据所述目标图像，确定所述目标车辆在所述虚拟跑道中与车道中心线的偏移量；根据所述偏移量，生成所述第一位置信息。
在一种可能的实现方式中，处理器13可利用第一位置信息使目标车辆行驶在虚拟跑道的车道上。例如，目标车辆可向前方行驶，如果虚拟跑道出现弯道，则目标车辆相对于虚拟跑道的车道将会发生偏移，即，如果目标车辆向前方沿直线行驶，将无法保持在车道内，处理器13可根据目标图像中目标车辆与车道中心线的位置关系，计算得到第一位置信息，即目标车辆中心相对于车道中心线的偏移量，并将所述第一位置信息发送给目标车辆，以使得目标车辆根据该偏移量，计算行驶方向、行驶速度或者行驶路径等，并控制目标车辆行驶，从而使目标车辆保持在车道内行驶。
在一种可能的实现方式中，处理器13可根据所述目标图像确定所述目标车辆在所述虚拟跑道中的第一位置信息，该步骤可包括：根据所述目标图像，确定所述目标车辆行进方向上预设范围内的图像；根据所述预设范围内的图像，生成所述第一位置信息。
在一种可能的实现方式中，处理器13可利用第一位置信息使目标车辆沿虚拟跑道的车道行驶。其中，第一位置信息可表示目标车辆在虚拟跑道中的位置图像，例如处理器13将目标车辆行进方向上预设范围(如3米内)的图像(如包含该目标车辆的至少部分图像)作为该第一位置信息，发送给目标车辆。目标车辆在接收到该预设范围内的图像后，可根据该图像进行路径规划并控制目标车辆沿该规划路径行驶，即可沿虚拟跑道的车道行驶。
在一种可能的实现方式种，该第一位置信息也可以直接是包含车辆控制指令，例如包含车辆下一位置信息的车辆控制指令。例如，处理器13可根据实时获取的目标图像，定位目标车辆位置，之后根据虚拟跑道图案，计算目标车辆在虚拟跑道相对位置偏移量，直接生成车辆控制指令，如包括车辆行进方向、速度、路线、下一位置信息中至少一个信息的指令，并将该指令发送给目标车辆，使得目标车辆根据该指令在虚拟跑道中行驶。
在其他实施方式中，处理器13回传给目标车辆的信息可以根据目标车辆的情况以及实际需求自由组合。在一种可能的实现方式中，所述系统还包括目标车辆，目标车辆配置为至少根据所述第一位置信息在虚拟跑道中行驶。例如，所述第一位置信息包括目标车辆与车道中心线的偏移量或者目标车辆行进方向上预设范围内的图像，目标车辆可根据第一位置信息生成控制指令，以控制目标车辆在虚拟跑道的车道内行驶。
在一种可能的实现方式中，所述目标车辆配置为：根据所述偏移量确定所述目标车辆的行驶路径；或者，根据所述目标车辆行进方向上预设范围内的图像确定所述目标车辆的行驶路径。
在一种可能的实现方式中，目标车辆可根据目标车辆与车道中心线的偏移量确定目标车辆的行驶路径，例如，目标车辆根据该偏移量，计算行驶方向、行驶速度或者行驶 路径，即，使目标车辆通过转向等方式，减小偏移量，使目标车辆的车身保持在车道内。
在一种可能的实现方式中，目标车辆可根据目标车辆行进方向上预设范围内的图像确定行驶路径，例如，目标车辆可根据该图像中的虚拟跑道的图案进行路径规划，使目标车辆的路径与虚拟跑道的图案一致，即，使目标车辆在虚拟跑道中行驶。
在一种可能的实现方式中，还可在虚拟跑道中设置障碍物，例如，可在展示平面上放置障碍物，或者，可在虚拟跑道的图案中设置障碍物的图案。处理器13还可检测障碍物的位置，并发送至目标车辆，使目标车辆可规避障碍物。
在一种可能的实现方式中，处理器13还配置为：根据目标图像获取障碍物的第二位置信息；将第二位置信息发送至目标车辆21，使得目标车辆21根据第一位置信息和第二位置信息在虚拟跑道中行驶。
在一个可能的实现方式中，第二位置信息可以是障碍物在虚拟跑道中的位置坐标，第一位置信息可以是目标车辆在虚拟跑道中的位置坐标，目标车辆在接收到第一位置信息和第二位置信息后，可根据第一位置信息和第二位置信息定位目标车辆与障碍物之间的相对位置关系，从而可以生成控制指令，例如生成规避路线并控制目标车辆沿规避路线行驶，使目标车辆避开障碍物，在虚拟跑道的车道内行驶。通过这种方式，可使目标车辆实时获取目标图像与可检测障碍物的位置，从而具备规避障碍物的能力，提高目标车辆的性能。
在一种可能的实现方式中，障碍物的第二位置信息可以是障碍物与虚拟跑道的路线的相对位置，例如，障碍物在虚拟跑道的第1个弯道处，障碍物在虚拟跑道的第2个路口处等。此外，障碍物的第二位置信息还可包括障碍物所在的车道的信息和障碍物的尺寸信息，或者障碍物的第二位置信息也可也直接是目标车辆与障碍物的相对位置。目标车辆可利用第二位置信息定位障碍物位置，从而控制目标车辆避开障碍物。
在一种可能的实现方式中，处理器13可通过神经网络等检测方法在目标图像中检测到障碍物，并确定障碍物的第二位置信息，在本公开的一些实施例中，可将第二位置信息发送至目标车辆。目标车辆的车辆控制器可接收第二位置信息，并根据第一位置信息和第二位置信息确定行驶路径，并按照行驶路径行驶。在示例中，目标车辆在远离障碍物的情况下，车辆控制器可根据第一位置信息确定行驶路径，例如，可根据虚拟跑道的路线来确定目标车辆在虚拟跑道中的行驶路径，在接近障碍物的情况下，可根据第二位置信息确定行驶路径，例如，虚拟跑道有双车道，障碍物位于其中一个车道上，则车辆控制器可确定使目标车辆行驶至另一车道上避开障碍物，在避开障碍物后，使目标车辆行驶回原车道的行驶路径，目标车辆按照此路径行驶，则可在另一车道上避开障碍物。
在另一示例中，车辆控制器可同时根据第一位置信息和第二位置信息来确定行驶路径，例如，虚拟跑道中可具有分叉路，该分叉路可包括两条或多条道路，障碍物设置在其中一条道路上，车辆控制器可根据第二位置信息确定障碍物所处的道路，确定避开该道路的行驶路径，并根据第一位置信息确定驶入其他道路的行驶路径，目标车辆按照此路径行驶，则可在没有障碍物的道路上避开障碍物，选择无障碍物的道路行驶。本公开实施例对行驶路径的确定方式不做限制。
在一种可能的实现方式中，控制目标车辆的处理可由处理器13来执行，即，处理器13可根据第一位置信息，或者第一位置信息和第二位置信息等来遥控目标车辆行驶。 处理器13还配置为：至少根据所述第一位置信息生成车辆控制指令；将所述车辆控制指令发送至所述目标车辆，使得所述目标车辆根据所述车辆控制指令在所述虚拟跑道中行驶。在示例中，处理器13可计算目标车辆在所述虚拟跑道中与车道中心线的偏移量，并根据偏移量确定目标车辆的行驶方向，并可生成控制目标车辆的车辆控制指令，以控制目标车辆按照该行驶方向在车道内行驶。在示例中，处理器13可根据目标车辆行进方向上预设范围内的图像，规划所述目标车辆行进方向上预设距离内的路线，并生成使目标车辆沿该路线行驶的车辆控制指令，以控制目标车辆沿着该路线在车道内行驶。在示例中，处理器13还可确定障碍物的第二位置信息，并根据第一位置信息和第二位置信息生成车辆控制指令，以控制目标车辆避开障碍物，并在无障碍物的车道内行驶。本公开实施例对处理器13控制目标车辆的方式不做限制。
本公开实施例还提出一种车辆控制方法，该方法的执行主体可以是车辆控制装置，例如终端、遥控设备、服务器、智能小车等，此外该方法也可以通过处理器运行计算机可执行代码的方式执行。
图3示出根据本公开实施例的车辆控制方法的流程图，如图3所示，所述方法应用于车辆控制器，车辆控制器可设置在目标车辆上，也可以与目标车辆远程连接(如通过有线或无线方式连接)。所述方法包括：
在步骤S11中，接收车辆定位系统发送的第一位置信息；
在步骤S12中，根据所述第一位置信息，确定所述目标车辆在虚拟跑道中的行驶路径；
在步骤S13中，控制所述目标车辆按照所述行驶路径行驶。
其中，该车辆定位系统可参考本公开实施例中描述的车辆定位系统，此次不再赘述。
在一种可能的实现方式中，车辆控制器可以是单片机、DSP、FPGA、CPU等运算器件，本公开实施例对车辆控制器的类型不做限制。
在一种可能的实现方式中，在步骤S11中，目标车辆可接收车辆定位系统发送的第一位置信息。
在一种可能的实现方式中，在步骤S12中，目标车辆可根据第一位置信息来确定行驶路径。
在示例中，第一位置信息包括目标车辆与车道中心线的偏移量，步骤S12可包括：根据所述第一位置信息，确定目标车辆在所述虚拟跑道中与车道中心线的偏移量；根据所述偏移量，确定所述目标车辆的行驶路径。例如，车辆控制器可根据第一位置信息获取偏移量，并根据车道偏移量确定目标车辆左转或右转的幅度，并进行相应的控制，例如，可通过转向控制目标车辆向着减小偏移量的方向行驶，使目标车辆保持在车道内，或者直接确定目标车辆的行驶路径。
在示例中，第一位置信息包括目标车辆行进方向上预设范围内的图像，步骤S12可包括：根据所述第一位置信息，确定目标车辆行进方向上预设范围内的图像，如所述虚拟跑道在所述目标车辆行进方向上预设距离内的路线；根据所述预设范围内的图像，确定所述目标车辆的行驶路径。例如，目标车辆可根据该图像中的虚拟跑道的图案进行路径规划，使目标车辆的路径与虚拟跑道的图案一致，即，使目标车辆在虚拟跑道中行驶。
在一种可能的实现方式中，在步骤S13中，目标车辆可按照行驶路径行驶，例如， 车辆控制器可控制目标车辆的动力系统和转向系统，使目标车辆按照行驶路径行驶，例如，在按照左转的行驶路线行驶的情况下，目标车辆可通过上述左转弯道。
在一种可能的实现方式中，所述方法还包括：接收车辆定位系统发送的障碍物的第二位置信息；根据所述第一位置信息和所述第二位置信息，确定所述目标车辆在虚拟跑道中的行驶路径；控制所述目标车辆按照所述行驶路径行驶。
在示例中，车辆控制器可根据第一位置信息和障碍物的第二位置信息确定目标车辆的行驶路径，并确定可避开障碍物，并在无障碍物的车道内行驶的行驶路径。并控制目标车辆的动力系统和转向系统，使目标车辆按照行驶路径行驶。
在一种可能的实现方式中，所述方法还包括：接收所述车辆定位系统发送的车辆控制指令；根据所述车辆控制指令，控制所述目标车辆行驶。例如，目标车辆仅需要接收车辆定位系统中的处理器13的遥控，以按照行驶路径行驶。
根据本公开的实施例的车辆定位系统，可通过虚拟跑道展示装置来展示虚拟跑道，可为目标车辆设计多个跑道，且使虚拟跑道的尺寸与目标车辆的尺寸相适应，如果目标车辆更换，可方便地调整虚拟跑道的尺寸，无需重新购买或搭建新的跑道，降低了跑道的成本，提升了跑道路线的灵活性。处理器可根据目标车辆在虚拟跑道中行驶的目标图像来确定目标车辆的第一位置信息，可使目标车辆实时确定其在跑道中的位置，进而准确地在虚拟跑道中行驶，并通过第二位置信息使目标车辆具备规避障碍物的能力，提高目标车辆的性能。另外，还使目标车辆本身无需记录和适应虚拟跑道，简化了目标车辆在行驶过程中的运算。
图4示出根据本公开实施例的车辆定位系统的应用示意图，如图4所示，车辆定位系统可包括虚拟跑道展示装置、图像获取装置以及处理器，其中，虚拟跑道展示装置包括投影仪，投影仪中可保存虚拟跑道的图案，投影平面可以是投影幕布或实际场地，可用于展示投影仪投影的虚拟跑道的图案。在本公开的一些实施例中，可通过调整投影仪与投影平面的距离，来调整虚拟跑道的尺寸，使虚拟跑道的宽度与目标车辆的宽度相适应。例如，目标车辆的宽度为20cm，虚拟跑道可以是双车道的跑道，每个车道的宽度可大于目标车辆的宽度，例如每个车道的宽度为30cm，虚拟跑道的宽度为60cm。
在一种可能的实现方式中，图像获取装置可包括摄像头，可设置于投影仪的下方或相邻设置等，可拍摄到完整的虚拟跑道的图像且与投影仪不会相互遮挡的位置。目标车辆在虚拟跑道中行驶时，摄像头可实时拍摄到目标车辆在虚拟跑道中行驶的目标图像，并可将目标图像发送至处理器，处理器可根据目标图像实时确定目标车辆在虚拟跑道中的第一位置信息，例如目标车辆在虚拟跑道中与车道中心线的偏移量或者目标车辆行进方向上预设范围内的图像，并实时发送至目标车辆，使得目标车辆可利用第一位置信息实时确定行驶路径。
在一种可能的实现方式中，处理器可通过神经网络等检测方法在目标图像中检测到目标车辆，并确定目标车辆在虚拟跑道中的第一位置信息，例如，目标车辆与虚拟跑道的路线的相对位置，目标车辆的车辆控制器可根据该相对位置，确定虚拟跑道的路线，进而确定目标车辆的行驶路径，例如，目标车辆在虚拟跑道的转弯处，即，虚拟跑道的路线为转弯的路线，则确定车辆的行驶路径为转弯的路径。在本公开的一些实施例中，车辆控制器可控制目标车辆的动力系统和转向系统等，使得目标车辆按照行驶路径行 驶，例如，可按照行驶路径，驶过弯道。
在一种可能的实现方式中，还可在虚拟跑道中设置障碍物，例如，可在展示平面上放置障碍物，或者，可在虚拟跑道的图案中设置障碍物的图案。处理器可在目标图像中检测到目标车辆的第一位置信息和障碍物的第二位置信息，并将第一位置信息和第二位置信息发送至目标车辆的车辆控制器，车辆控制器可根据第一位置信息和第二位置信息确定可避开障碍物的行驶路径。
在示例中，虚拟跑道可具有双车道，障碍物可设置在虚拟跑道的一条车道上，在车辆控制器根据第二位置信息确定目标车辆远离该障碍物的情况下，车辆控制器可根据第一位置信息沿着车道行驶，在车辆控制器根据第二位置信息确定目标车辆接近该障碍物的情况下，目标车辆可行驶至另一车道上以避开障碍物，避开障碍物后，目标车辆可驶回原车道。在另一示例中，虚拟跑道中可具有分叉路，该分叉路可包括两条或多条道路，障碍物设置在其中一条道路上，车辆控制器可根据第二位置信息确定障碍物所处的道路，并根据第一位置信息行驶至其他道路以避开该障碍物。
在一种可能的实现方式中，上述车辆定位系统可用于车辆模型竞赛或教学等领域，可节省搭建跑道的时间和成本，且使目标车辆本身无需记录和适应虚拟跑道，简化了目标车辆在行驶过程中的运算。本公开实施例对车辆定位系统的应用领域不做限制。
图5示出根据本公开实施例的车辆定位方法的流程图，该车辆定位方法的执行主体可以是车辆定位装置，例如本公开实施例的车辆定位系统，或者车辆定位系统中的处理器，又或者终端、遥控设备、服务器等，此外该方法也可以通过处理器运行计算机可执行代码的方式执行。
如图5所示，所述方法包括：
在步骤S21中，根据目标图像确定目标车辆在虚拟跑道中的第一位置信息，其中，所述虚拟跑道为虚拟跑道展示装置展示的跑道，所述目标图像为图像获取装置获取的所述目标车辆在所述虚拟跑道中行驶的图像；
在步骤S22中，将所述第一位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息在所述虚拟跑道中行驶。
在一种可能的实现方式中，所述方法还包括：根据所述目标图像获取障碍物的第二位置信息；将所述第二位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息和所述第二位置信息在所述跑道图案中行驶。
在一种可能的实现方式中，所述方法还包括：通过所述虚拟跑道展示装置获取用于展示虚拟跑道场地的场地图像；根据所述场地图像，获取场地信息，其中，所述场地信息包括场地的尺寸；根据所述场地信息以及目标车辆的尺寸确定所述虚拟跑道的尺寸及所述虚拟跑道的图案。
在一种可能的实现方式中，所述方法还包括：获取场地信息和目标车辆的尺寸；根据所述场地信息和所述目标车辆的尺寸，确定所述虚拟跑道的尺寸及所述虚拟跑道的图案，并发送至所述虚拟跑道展示装置。
在一种可能的实现方式中，所述方法还包括：至少根据所述第一位置信息生成车辆控制指令；将所述车辆控制指令发送至所述目标车辆，使得所述目标车辆根据所述车辆控制指令在所述跑道图案中行驶。
在一种可能的实现方式中，根据目标图像确定目标车辆在虚拟跑道中的第一位置信息，包括：根据所述目标图像，确定所述目标车辆在所述虚拟跑道中与车道中心线的偏移量；根据所述偏移量，生成所述第一位置信息。
在一种可能的实现方式中，根据目标图像确定目标车辆在虚拟跑道中的第一位置信息，包括：根据所述目标图像，确定所述目标车辆行进方向上预设范围内的图像；根据所述预设范围内的图像，生成所述第一位置信息。
本公开实施例提出一种车辆定位方法，应用于车辆定位系统，所述系统包括：投影仪、摄像头和处理器，以目标车辆为小车进行举例说明，所述方法包括：在步骤S31中，在投影平面上投影出虚拟跑道的图案；这里，需要投影仪与投影平面配合对虚拟跑道的图案进行投影。其中，图2示出投影出的虚拟跑道图案。
在步骤S41中，摄像头捕捉到虚拟跑道的图案以及虚拟跑道上的小车；
这里，摄像头捕捉到虚拟跑道的图案以及虚拟跑道上的小车后，处理器根据所述摄像头捕捉到的虚拟跑道的图案和小车，可以定位出所述小车的全局位置以及障碍物的位置。所述处理器可以根据虚拟跑道的图案，计算小车在虚拟跑道相对位置偏移量，直接生成小车的控制指令。
在步骤S51中，小车根据接收到位置信息进行反馈调节。本公开实施例根据虚拟跑道的图案以及虚拟跑道上的小车，定位出小车的全局位置以及障碍物的位置，实现了对障碍物的准确检测以及对小车与虚拟跑道的相对位置估计，并将检测信息与估计信息实时传递给小车，从而使得小车能够根据检测信息与估计信息实时调整行驶路径。
本公开实施例的使用场景可以为以下之一：1)小车开发入门。2)没有足够的资金购买实体平台。3)需要同时开发不同尺寸的小车，并需要与不同尺寸小车匹配的跑道。
本公开实施例利用计算机视觉的检测算法进行位置估计；基于全局定位与实时信息的运行平台，降低了跑道搭建的时间和经济成本，并增强了跑道灵活性与更换便捷性；投影仪与投影平面配合，保证了投影仪可以根据投影平面的尺寸以及小车的尺寸自动做出调整，投影出合理的跑道图案；摄像头可以获取小车的全局位置，包括障碍物的信息；摄像头和小车可以实时通信；计算机视觉算法可以完成准确的障碍物检测以及小车与虚拟跑道的相对位置估计。
通过这种方式，可降低跑道的经济和时间成本，灵活性强，便于小车的推广；同时，更好的利用了计算机视觉算法进行位置估计，使得小车能够根据检测信息与估计信息实时调整行驶路径；此外，丰富了跑道的多样性，从而提升了小车的可开发性。
图6A示出根据本公开实施例的车辆控制装置100的框图，如图6A所示，所述装置100包括：第一接收模块11，配置为接收车辆定位系统发送的所述目标车辆的第一位置信息；第一确定模块12，配置为根据所述第一位置信息，确定所述目标车辆在虚拟跑道中的行驶路径；第一行驶模块13，配置为控制所述目标车辆按照所述行驶路径行驶。
在一种可能的实现方式中，所述第一确定模块被进一步配置为：根据所述第一位置信息，确定所述目标车辆在所述虚拟跑道中与车道中心线的偏移量；根据所述偏移量，确定所述目标车辆的行驶路径。
在一种可能的实现方式中，所述第一确定模块被进一步配置为：根据所述第一位置信息，确定所述目标车辆行进方向上预设范围内的图像；根据所述预设范围内的图像， 确定所述目标车辆的行驶路径。
在一种可能的实现方式中，所述装置还包括：第二接收模块，配置为接收所述车辆定位系统发送的车辆控制指令；控制模块，配置为根据所述车辆控制指令，控制所述目标车辆行驶。
在一种可能的实现方式中，所述装置还包括：第三接收模块，配置为接收车辆定位系统发送的障碍物的第二位置信息；第二确定模块，配置为根据所述第一位置信息和所述第二位置信息，确定所述目标车辆在虚拟跑道中的行驶路径；第二行驶模块，配置为控制所述目标车辆按照所述行驶路径行驶。
图6B示出根据本公开实施例的车辆定位装置200的框图，如图6B所示，所述装置200包括：第三确定模块21，配置为根据目标图像确定目标车辆在虚拟跑道中的第一位置信息，其中，所述虚拟跑道为虚拟跑道展示装置展示的跑道，所述目标图像为图像获取装置获取的所述目标车辆在所述虚拟跑道中行驶的图像；第一发送模块22，配置为将所述第一位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息在所述虚拟跑道中行驶。
在一种可能的实现方式中，所述装置还包括：第一获取模块，配置为根据所述目标图像获取障碍物的第二位置信息；第二发送模块，配置为将所述第二位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息和所述第二位置信息在所述跑道图案中行驶。
在一种可能的实现方式中，所述装置还包括：第二获取模块，配置为通过所述虚拟跑道展示装置获取用于展示虚拟跑道场地的场地图像；第三获取模块，配置为根据所述场地图像，获取场地信息，其中，所述场地信息包括场地的尺寸；第四确定模块，配置为根据所述场地信息以及目标车辆的尺寸确定所述虚拟跑道的尺寸及所述虚拟跑道的图案。
在一种可能的实现方式中，所述装置还包括：第四获取模块，配置为获取场地信息和目标车辆的尺寸；第五确定模块，配置为根据所述场地信息和所述目标车辆的尺寸，确定所述虚拟跑道的尺寸及所述虚拟跑道的图案，并发送至所述虚拟跑道展示装置。
在一种可能的实现方式中，所述装置还包括：生成模块，配置为至少根据所述第一位置信息生成车辆控制指令；第三发送模块，配置为将所述车辆控制指令发送至所述目标车辆，使得所述目标车辆根据所述车辆控制指令在所述跑道图案中行驶。
在一种可能的实现方式中，所述第三确定模块被进一步配置为：根据所述目标图像，确定所述目标车辆在所述虚拟跑道中与车道中心线的偏移量；根据所述偏移量，生成所述第一位置信息。
在一种可能的实现方式中，所述第三确定模块被进一步配置为：根据所述目标图像，确定所述目标车辆行进方向上预设范围内的图像；根据所述预设范围内的图像，生成所述第一位置信息。
可以理解，本公开实施例提及的上述各个方法，在不违背原理逻辑的情况下，均可以彼此相互结合形成结合后的实施例，限于篇幅，本公开实施例不再赘述。
本领域技术人员可以理解，在具体实施方式的上述方法中，各步骤的撰写顺序并不意味着严格的执行顺序而对实施过程构成任何限定，各步骤的具体执行顺序应当以其功 能和可能的内在逻辑确定。在一些实施例中，本公开实施例提供的装置具有的功能或包含的模块可以配置为执行上文方法实施例描述的方法，其具体实现可以参照上文方法实施例的描述，为了简洁，这里不再赘述。
本公开实施例还提出一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。计算机可读存储介质可以是非易失性计算机可读存储介质。
本公开实施例还提供了一种计算机程序产品，包括计算机可读代码，当计算机可读代码在设备上运行时，电子设备中的处理器执行用于实现如上任一实施例提供的方法的指令。
本公开实施例还提供了另一种计算机程序产品，用于存储计算机可读指令，指令被执行时使得计算机执行上述任一实施例提供的方法的操作。
该计算机程序产品可以通过硬件、软件或其结合的方式实现。在一个可选实施例中，所述计算机程序产品体现为计算机存储介质，在另一个可选实施例中，计算机程序产品体现为软件产品，例如软件开发包(Software Development Kit，SDK)等等。
本公开实施例还提出一种电子设备，包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为上述方法。电子设备可以被提供为终端、服务器或其它形态的设备。图7是根据一示例性实施例示出的一种电子设备800的框图。例如，电子设备800可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，个人数字助理等终端。参照图7，电子设备800可以包括以下一个或多个组件：处理组件802，存储器804，电源组件806，多媒体组件808，音频组件810，输入/输出(I/O)的接口812，传感器组件814，以及通信组件816。处理组件802通常控制电子设备800的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件802可以包括一个或多个处理器820来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件802可以包括一个或多个模块，便于处理组件802和其他组件之间的交互。例如，处理组件802可以包括多媒体模块，以方便多媒体组件808和处理组件802之间的交互。存储器804被配置为存储各种类型的数据以支持在电子设备800的操作。这些数据的示例包括用于在电子设备800上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器804可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如SRAM(Static Random-Access Memory，静态随机存取存储器)，EEPROM(Electrically Erasable Programmable Read Only Memory，电可擦除可编程只读存储器)，EPROM(Erasable Programmable Read Only Memory，可擦除可编程只读存储器)，PROM(Programmable Read-Only Memory，可编程只读存储器)，ROM(Read-Only Memory，只读存储器)，磁存储器，快闪存储器，磁盘或光盘。电源组件806为电子设备800的各种组件提供电力。电源组件806可以包括电源管理系统，一个或多个电源，及其他与为电子设备800生成、管理和分配电力相关联的组件。多媒体组件808包括在所述电子设备800和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和 触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件808包括一个前置摄像头和/或后置摄像头。当电子设备800处于操作模式，如在拍摄模式或视频模式的情况下，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。音频组件810被配置为输出和/或输入音频信号。例如，音频组件810包括一个麦克风(MIC)，当电子设备800处于操作模式，如在呼叫模式、记录模式和语音识别模式的情况下，麦克风被配置为接收外部音频信号。所接收的音频信号可以被存储在存储器804或经由通信组件816发送。在一些实施例中，音频组件810还包括一个扬声器，配置为输出音频信号。I/O接口812为处理组件802和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。传感器组件814包括一个或多个传感器，配置为电子设备800提供各个方面的状态评估。例如，传感器组件814可以检测到电子设备800的打开/关闭状态，组件的相对定位，例如所述组件为电子设备800的显示器和小键盘，传感器组件814还可以检测电子设备800或电子设备800一个组件的位置改变，用户与电子设备800接触的存在或不存在，电子设备800方位或加速/减速和电子设备800的温度变化。传感器组件814可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件814还可以包括光传感器，如CMOS或CCD图像传感器，配置为在成像应用中使用。在一些实施例中，该传感器组件814还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。通信组件816被配置为便于电子设备800和其他设备之间有线或无线方式的通信。电子设备800可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件816经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件816还包括NFC(Near Field Communication，近场通信)模块，以促进短程通信。例如，在NFC模块可基于RFID(Radio Frequency Identification，射频识别)技术，IrDA(Infrared Data Association，红外数据协会)技术，UWB(Ultra Wide Band，超宽带)技术，BT(Bluetooth，蓝牙)技术和其他技术来实现。
在示例性实施例中，电子设备800可以被一个或多个ASIC(Application Specific Integrated Circuit，应用专用集成电路)、DSP、DSPD(Digital Signal Processor Device，数字信号处理设备)、PLD(Programmable Logic Device，可编程逻辑器件)、FPGA、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器804，上述计算机程序指令可由电子设备800的处理器820执行以完成上述方法。
图8是根据一示例性实施例示出的一种电子设备1900的框图。例如，电子设备1900可以被提供为一服务器。参照图8，电子设备1900包括处理组件1922，其包括一个或多个处理器，以及由存储器1932所代表的存储器资源，配置为存储可由处理组件1922的执行的指令，例如应用程序。存储器1932中存储的应用程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，处理组件1922被配置为执行指令，以执行 上述方法。电子设备1900还可以包括一个电源组件1926被配置为执行电子设备1900的电源管理，一个有线或无线网络接口1950被配置为将电子设备1900连接到网络，和一个输入输出(I/O)接口1958。电子设备1900可以操作基于存储在存储器1932的操作系统，例如Windows ServerTM，Mac OS XTM，UnixTM,LinuxTM，FreeBSDTM或类似。在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器1932，上述计算机程序指令可由电子设备1900的处理组件1922执行以完成上述方法。
本公开实施例可以是系统、方法和/或计算机程序产品。计算机程序产品可以包括计算机可读存储介质，其上载有用于使处理器实现本公开实施例的各个方面的计算机可读程序指令。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是――但不限于――电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如，通过光纤电缆的光脉冲)、或者通过电线传输的电信号。这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本公开实施例操作的计算机程序指令可以是汇编指令、指令集架构(ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA)，该电子电路可以执行计算机可读程序指令，从而实现本公开实施例的各个方面。
这里参照根据本公开实施例的方法、装置(系统)和计算机程序产品的流程图和/或框图描述了本公开实施例的各个方面。应当理解，流程图和/或框图的每个方框以及流 程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本公开实施例的多个系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
以上已经描述了本公开实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。
工业实用性
本公开涉及一种车辆定位系统及方法、车辆控制方法及装置，所述系统包括：虚拟跑道展示装置，配置为展示虚拟跑道；图像获取装置，配置为在目标车辆行驶于所述虚拟跑道的过程中获取目标图像；处理器，配置为根据目标图像确定目标车辆在虚拟跑道中的第一位置信息；将第一位置信息发送至所述目标车辆。根据本公开的实施例的车辆定位系统，可通过虚拟跑道展示装置来展示虚拟跑道，可为目标车辆设计多个跑道，降低了跑道的成本，且不需要跑道搭建的时间，提升了跑道路线的灵活性。可使目标车辆实时确定其在跑道中的位置，进而准确地在虚拟跑道中行驶，使目标车辆本身无需记录和适应虚拟跑道，简化了目标车辆在行驶过程中的运算。

Claims (40)

  1. 一种车辆定位系统，包括：虚拟跑道展示装置、图像获取装置及处理器，
    所述虚拟跑道展示装置配置为展示虚拟跑道；
    所述图像获取装置位于所述虚拟跑道的上方，配置为在目标车辆行驶于所述虚拟跑道的过程中获取目标图像；
    所述处理器与所述图像获取装置连接或内置于所述图像获取装置内，配置为：
    根据所述目标图像确定所述目标车辆在所述虚拟跑道中的第一位置信息；
    将所述第一位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息在所述虚拟跑道中行驶。
  2. 根据权利要求1所述的系统，其中，所述处理器还配置为：
    根据所述目标图像获取障碍物的第二位置信息；
    将所述第二位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息和所述第二位置信息在所述虚拟跑道中行驶。
  3. 根据权利要求1或2所述的系统，其中，所述虚拟跑道展示装置包括投影装置，所述投影装置配置为将所述虚拟跑道的图案进行投影。
  4. 根据权利要求3所述的系统，其中，所述投影装置包括投影仪和投影平面，
    所述投影仪配置为将所述虚拟跑道的图案投影在所述投影平面上。
  5. 根据权利要求1至4任一项所述的系统，其中，所述虚拟跑道展示装置包括增强现实装置，所述增强现实装置配置为在增强现实界面中展示所述虚拟跑道。
  6. 根据权利要求1至5任一项所述的系统，其中，所述虚拟跑道展示装置还配置为根据目标车辆的尺寸，确定虚拟跑道的尺寸；
    所述目标车辆的尺寸包括所述目标车辆的宽度，所述虚拟跑道的尺寸包括跑道宽度。
  7. 根据权利要求1至5任一项所述的系统，其中，所述虚拟跑道展示装置配置为：
    获取用于展示虚拟跑道场地的场地图像；
    根据所述场地图像，获取场地信息，其中，所述场地信息包括场地的尺寸；
    根据所述场地信息以及目标车辆的尺寸确定所述虚拟跑道的尺寸及所述虚拟跑道的图案。
  8. 根据权利要求1所述的系统，其中，所述处理器还配置为：
    获取场地信息和目标车辆的尺寸；
    根据所述场地信息和所述目标车辆的尺寸，确定所述虚拟跑道的尺寸及所述虚拟跑道的图案，并发送至所述虚拟跑道展示装置。
  9. 根据权利要求1至8任一项所述的系统，其中，所述处理器还配置为：
    至少根据所述第一位置信息生成车辆控制指令；
    将所述车辆控制指令发送至所述目标车辆，使得所述目标车辆根据所述车辆控制指令在所述虚拟跑道中行驶。
  10. 根据权利要求1至9任一项所述的系统，其中，所述处理器还配置为：
    根据所述目标图像，确定所述目标车辆在所述虚拟跑道中与车道中心线的偏移量；
    根据所述偏移量，生成所述第一位置信息。
  11. 根据权利要求1至9任一项所述的系统，其中，所述处理器还配置为：
    根据所述目标图像，确定所述目标车辆行进方向上预设范围内的图像；
    根据所述预设范围内的图像，生成所述第一位置信息。
  12. 根据权利要求1至11任一项所述的系统，其中，所述系统还包括：
    目标车辆，配置为至少根据所述第一位置信息在虚拟跑道中行驶。
  13. 根据权利要求12所述的系统，其中，所述第一位置信息包括目标车辆在所述虚拟跑道中与车道中心线的偏移量或者目标车辆行进方向上预设范围内的图像，所述目标车辆还配置为：根据所述偏移量确定所述目标车辆的行驶路径；或者，根据所述目标车辆行进方向上预设范围内的图像确定所述目标车辆的行驶路径。
  14. 一种车辆控制方法，包括：
    接收车辆定位系统发送的所述目标车辆的第一位置信息；
    根据所述第一位置信息，确定所述目标车辆在虚拟跑道中的行驶路径；
    控制所述目标车辆按照所述行驶路径行驶。
  15. 根据权利要求14所述的方法，其中，所述根据所述第一位置信息，确定所述目标车辆在虚拟跑道中的行驶路径，包括：
    根据所述第一位置信息，确定目标车辆在所述虚拟跑道中与车道中心线的偏移量；
    根据所述偏移量，确定所述目标车辆的行驶路径。
  16. 根据权利要求14所述的方法，其中，所述根据所述第一位置信息，确定所述目标车辆在虚拟跑道中的行驶路径，包括：
    根据所述第一位置信息，确定所述目标车辆行进方向上预设范围内的图像；
    根据所述预设范围内的图像，确定所述目标车辆的行驶路径。
  17. 根据权利要求14至16任一项所述的方法，其中，所述方法还包括：
    接收所述车辆定位系统发送的车辆控制指令；
    根据所述车辆控制指令，控制所述目标车辆行驶。
  18. 根据权利要求14至16任一项所述的方法，其中，所述方法还包括：
    接收车辆定位系统发送的障碍物的第二位置信息；
    根据所述第一位置信息和所述第二位置信息，确定所述目标车辆在虚拟跑道中的行驶路径；
    控制所述目标车辆按照所述行驶路径行驶。
  19. 一种车辆定位方法，包括：
    根据目标图像确定目标车辆在虚拟跑道中的第一位置信息，其中，所述虚拟跑道为虚拟跑道展示装置展示的跑道，所述目标图像为图像获取装置获取的所述目标车辆在所述虚拟跑道中行驶的图像；
    将所述第一位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息在所述虚拟跑道中行驶。
  20. 根据权利要求19所述的方法，其中，所述方法还包括：
    根据所述目标图像获取障碍物的第二位置信息；
    将所述第二位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息和所述第二位置信息在所述跑道图案中行驶。
  21. 根据权利要求19所述的方法，其中，所述方法还包括：
    通过所述虚拟跑道展示装置获取用于展示虚拟跑道场地的场地图像；
    根据所述场地图像，获取场地信息，其中，所述场地信息包括场地的尺寸；
    根据所述场地信息以及目标车辆的尺寸确定所述虚拟跑道的尺寸及所述虚拟跑道的图案。
  22. 根据权利要求19所述的方法，其中，所述方法还包括：
    获取场地信息和目标车辆的尺寸；
    根据所述场地信息和所述目标车辆的尺寸，确定所述虚拟跑道的尺寸及所述虚拟跑道的图案，并发送至所述虚拟跑道展示装置。
  23. 根据权利要求19至22任一项所述的方法，其中，所述方法还包括：
    至少根据所述第一位置信息生成车辆控制指令；
    将所述车辆控制指令发送至所述目标车辆，使得所述目标车辆根据所述车辆控制指令在所述跑道图案中行驶。
  24. 根据权利要求19至23任一项所述的方法，其中，所述根据目标图像确定目标车辆在虚拟跑道中的第一位置信息，包括：
    根据所述目标图像，确定所述目标车辆在所述虚拟跑道中与车道中心线的偏移量；
    根据所述偏移量，生成所述第一位置信息。
  25. 根据权利要求19至23任一项所述的方法，其中，所述根据目标图像确定目标车辆在虚拟跑道中的第一位置信息，包括：
    根据所述目标图像，确定所述目标车辆行进方向上预设范围内的图像；
    根据所述预设范围内的图像，生成所述第一位置信息。
  26. 一种车辆控制装置，包括：
    第一接收模块，配置为接收车辆定位系统发送的所述目标车辆的第一位置信息；
    第一确定模块，配置为根据所述第一位置信息，确定所述目标车辆在虚拟跑道中的行驶路径；
    第一行驶模块，配置为控制所述目标车辆按照所述行驶路径行驶。
  27. 根据权利要求26所述的装置，其中，所述第一确定模块被进一步配置为：
    根据所述第一位置信息，确定所述目标车辆在所述虚拟跑道中与车道中心线的偏移量；
    根据所述偏移量，确定所述目标车辆的行驶路径。
  28. 根据权利要求26所述的装置，其中，所述第一确定模块被进一步配置为：
    根据所述第一位置信息，确定所述目标车辆行进方向上预设范围内的图像；
    根据所述预设范围内的图像，确定所述目标车辆的行驶路径。
  29. 根据权利要求26所述的装置，其中，所述装置还包括：
    第二接收模块，配置为接收所述车辆定位系统发送的车辆控制指令；
    控制模块，配置为根据所述车辆控制指令，控制所述目标车辆行驶。
  30. 根据权利要求26所述的装置，其中，所述装置还包括：
    第三接收模块，配置为接收车辆定位系统发送的障碍物的第二位置信息；
    第二确定模块，配置为根据所述第一位置信息和所述第二位置信息，确定所述目标车辆在所述虚拟跑道中的行驶路径；
    第二行驶模块，配置为控制所述目标车辆按照所述行驶路径行驶。
  31. 一种车辆定位装置，包括：
    第三确定模块，配置为根据目标图像确定目标车辆在虚拟跑道中的第一位置信息，其中，所述虚拟跑道为虚拟跑道展示装置展示的跑道，所述目标图像为图像获取装置获取的所述目标车辆在所述虚拟跑道中行驶的图像；
    第一发送模块，配置为将所述第一位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息在所述虚拟跑道中行驶。
  32. 根据权利要求31所述的装置，其中，所述装置还包括：
    第一获取模块，配置为根据所述目标图像获取障碍物的第二位置信息；
    第二发送模块，配置为将所述第二位置信息发送至所述目标车辆，使得所述目标车辆根据所述第一位置信息和所述第二位置信息在所述跑道图案中行驶。
  33. 根据权利要求31所述的装置，其中，所述装置还包括：
    第二获取模块，配置为通过所述虚拟跑道展示装置获取用于展示虚拟跑道场地的场地图像；
    第三获取模块，配置为根据所述场地图像，获取场地信息，其中，所述场地信息包括场地的尺寸；
    第四确定模块，配置为根据所述场地信息以及目标车辆的尺寸确定所述虚拟跑道的尺寸及所述虚拟跑道的图案。
  34. 根据权利要求33所述的装置，其中，所述装置还包括：
    第四获取模块，配置为获取场地信息和目标车辆的尺寸；
    第五确定模块，配置为根据所述场地信息和所述目标车辆的尺寸，确定所述虚拟跑道的尺寸及所述虚拟跑道的图案，并发送至所述虚拟跑道展示装置。
  35. 根据权利要求31所述的装置，其中，所述装置还包括：
    生成模块，配置为至少根据所述第一位置信息生成车辆控制指令；
    第三发送模块，配置为将所述车辆控制指令发送至所述目标车辆，使得所述目标车辆根据所述车辆控制指令在所述跑道图案中行驶。
  36. 根据权利要求31所述的装置，其中，所述第三确定模块被进一步配置为：
    根据所述目标图像，确定所述目标车辆在所述虚拟跑道中与车道中心线的偏移量；
    根据所述偏移量，生成所述第一位置信息。
  37. 根据权利要求31所述的装置，其中，所述第三确定模块被进一步配置为：
    根据所述目标图像，确定所述目标车辆行进方向上预设范围内的图像；
    根据所述预设范围内的图像，生成所述第一位置信息。
  38. 一种电子设备，包括：
    处理器；
    配置为存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：执行权利要求14至18任一项所述的车辆控制的方 法，或实现权利要求19至25任一项所述的车辆定位方法。
  39. 一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现权利要求14至18任一项所述的车辆控制的方法，或实现权利要求19至25任一项所述的车辆定位方法。
  40. 一种计算机程序产品，包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行用于实现权利要求14至18任一项所述的车辆控制的方法，或实现权利要求19至25任一项所述的车辆定位方法。
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KR20210090255A (ko) 2021-07-19
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TW202125318A (zh) 2021-07-01
SG11202106275RA (en) 2021-07-29
JP2022509986A (ja) 2022-01-25

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