WO2021232971A1 - Procédé et dispositif de positionnement de véhicule - Google Patents

Procédé et dispositif de positionnement de véhicule Download PDF

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Publication number
WO2021232971A1
WO2021232971A1 PCT/CN2021/085478 CN2021085478W WO2021232971A1 WO 2021232971 A1 WO2021232971 A1 WO 2021232971A1 CN 2021085478 W CN2021085478 W CN 2021085478W WO 2021232971 A1 WO2021232971 A1 WO 2021232971A1
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WIPO (PCT)
Prior art keywords
vehicle
positioning
color
semi
positioning system
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PCT/CN2021/085478
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English (en)
Chinese (zh)
Inventor
张竞
王发平
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华为技术有限公司
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Publication of WO2021232971A1 publication Critical patent/WO2021232971A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams

Definitions

  • This application relates to the field of communication technology and vehicle positioning, and in particular to a vehicle positioning method and device.
  • the vehicle position is an important input parameter for vehicle navigation and planning control, and it is of great significance to realize the real-time positioning of the vehicle position.
  • vehicle positioning mainly relies on Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS), but when the vehicle is in a tunnel or underground parking lot, the signal is weak or shielded,
  • GNSS Global Navigation Satellite System
  • INS Inertial Navigation System
  • the vehicle cannot be positioned due to the inability to receive satellite signals; if in this scenario, the vehicle uses its own inertial measurement unit (IMU) to calculate its real-time position, but due to the cumulative error of the IMU It will increase significantly over time, causing the positioning accuracy of the vehicle to be difficult to meet the demand.
  • IMU inertial measurement unit
  • the embodiment of the application discloses a vehicle positioning method and device, which can realize accurate positioning of vehicles in tunnels, underground parking lots and other spaces where satellite signals are blocked or shielded, and provide continuous positioning capabilities for vehicles until the vehicle leaves Satellite signal positioning blind spot.
  • an embodiment of the present application provides a vehicle positioning method.
  • the method includes: after a vehicle enters a semi-enclosed space, monitoring whether the vehicle is within a preset range of a positioning system in the semi-enclosed space; When the vehicle is within the preset range of the positioning system, obtain the position information of the positioning system in the semi-enclosed space on the map; position.
  • the vehicle after the vehicle enters the semi-enclosed space, when the vehicle detects that it is located within the preset range of a positioning system in the semi-enclosed space, it acquires the position information of the positioning system in the semi-enclosed space, and then The location information is used as its current location information combined with a semi-enclosed space map for positioning.
  • Semi-enclosed space refers to a space in which satellite signals are shielded or obscured, resulting in poor or unstable signals.
  • Semi-enclosed space includes underground space with poor signal and above ground space with poor signal.
  • the vehicle may be a human transportation tool or a logistics transportation tool, which is not specifically limited in the embodiment of the present application.
  • the vehicle in the semi-enclosed space provided with the positioning system, the vehicle can obtain at least one precise position information corresponding to the positioning system in the semi-enclosed space by combining the position relationship between itself and the positioning system.
  • the map can realize the accurate positioning of the vehicle in the semi-enclosed space, improve the robustness of the vehicle positioning in the semi-enclosed space with poor signal, and effectively solve the problem that the vehicle is difficult to accurately locate in the semi-enclosed space.
  • the map is downloaded by the vehicle from a server, or the map is downloaded by the vehicle from a roadside unit at the entrance of a semi-enclosed space, or The map is obtained by the vehicle from other vehicles in the semi-enclosed space.
  • the monitoring whether the vehicle is within the preset range of the positioning system in the semi-enclosed space includes: determining the first position between the vehicle and the positioning system Distance; determining whether the vehicle is within a preset range of the positioning system according to the first distance.
  • the vehicle can determine whether it is within the preset range of the positioning system by monitoring its first distance from the positioning system. When the first distance is less than or equal to the preset threshold, the vehicle is located in the Within the preset range of the positioning system.
  • the vehicle when the vehicle determines that it is within the preset range of a positioning system, the vehicle will obtain the position information of the positioning system, so as to realize the positioning of the vehicle in the semi-enclosed space according to the position information of the positioning system, which improves The processing efficiency in the vehicle positioning process saves the computing resources of the vehicle.
  • the positioning system includes a first color device and a positioning device, the map further includes information indicating the height of the first color device from the ground; the positioning device is used for Triggering first broadcast information when the vehicle is located at the positioning device; the determining the first distance between the vehicle and the positioning system includes: taking a first environment image, the first environment image including The image of the first color device; determine the second distance between the vehicle and the first color device according to the first environment image; according to the second distance and the ground clearance of the first color device Height, the first distance is obtained.
  • the first distance is the distance between the vehicle where the image capture device is located and the vertical plane, and the vertical plane is the plane perpendicular to the direction of the vehicle where the positioning device is located;
  • the second distance refers to the vehicle where the image capture device is located and a certain semi-enclosed space.
  • the spatial distance between color devices is the distance between the vehicle where the image capture device is located and the vertical plane, and the vertical plane is the plane perpendicular to the direction of the vehicle where the positioning device is located;
  • the second distance refers to the vehicle where the image capture device is located and a certain semi-enclosed space.
  • the vehicle after the vehicle obtains the second distance between itself and the color device by processing the first environment image, the vehicle obtains the first distance according to the second distance and the vehicle’s The pitch angle when the image acquisition device photographs the first color device to obtain the first distance.
  • the vehicle combines the computer vision processing technology to process the first environmental image containing the color device to determine whether it is within the preset range of the positioning system. This method is not affected by environmental factors such as satellite signal shielding in a semi-enclosed space.
  • the positioning system includes a first color device and a positioning device, and the positioning device is used to trigger the first broadcast information when the vehicle is located at the positioning device;
  • the first broadcast information includes the location information of the positioning device;
  • the obtaining the location information of the positioning system in the semi-enclosed space on the map includes: obtaining the location according to the first broadcast information sent by the positioning device The location information of the device; the location information of the positioning system in the semi-enclosed space is determined according to the location information of the positioning device.
  • the first broadcast information includes the position information of the positioning device and the number of the positioning device.
  • the map contains the numbers of multiple positioning systems, vehicles located within the preset range of the positioning device can pass The number in the first broadcast information and the position information of the positioning device are combined with the map to obtain the position information of the positioning system where the positioning device is located.
  • the first broadcast information includes a trigger moment and location information of the positioning device, and the trigger moment is used to indicate the moment when the positioning device is triggered by the vehicle.
  • the positioning the vehicle on the map according to the location information includes: positioning the vehicle on the map according to the location information and the trigger time.
  • the positioning system in addition to sending the first broadcast information immediately when the positioning system is triggered by the vehicle, the positioning system may also send the first broadcast information after a period of time after being triggered. The time delay between the time when the first broadcast information is sent and the time when the vehicle receives the first broadcast information is negligible.
  • the determining the second distance between the vehicle and the first color device according to the first environment image includes: identifying from the first environment image Out the first color device; determine the second distance according to the image of the first color device.
  • the pixel position and size of the first color device in the first environmental image are obtained, according to the pixel position and size of the first color device in the first environmental image And the actual size information of the first color device in the map to determine the second distance between the vehicle and the first color device.
  • the vehicle combines the computer vision processing technology to identify the color device corresponding to the positioning device in the positioning system to determine the second distance from the vehicle to the color device, thereby determining the first distance from the vehicle to the positioning device corresponding to the color device. It is not affected by the shielding of satellite signals in a semi-enclosed space, and because the light environment in the semi-enclosed space is stable, the accuracy of the vehicle identification color device can be improved.
  • the first color device includes one or more identification lights; the recognizing the first color device from the first environment image includes: The color and sequence of the one or more identification lights are used to identify the first color device.
  • the multiple color devices when multiple color devices are provided in a semi-closed space, the multiple color devices are arranged at different positions in the semi-closed space at intervals, and the color devices at different positions have different colors Or the permutation and combination of different colors to reduce the bit error rate of the color recognition device.
  • the positioning device includes a positioning grating or a geomagnetic sensor.
  • the method further includes: discarding the first broadcast information when the vehicle is not within a preset range of the positioning system.
  • the vehicle when the vehicle receives the first broadcast information from a positioning system, if the vehicle determines that it is not within the preset range of the positioning system, the vehicle can directly discard the first broadcast information to save the vehicle side. Computing resources to improve the positioning efficiency of the vehicle in a semi-enclosed space.
  • the monitoring whether the vehicle is within a preset range of the positioning system in the semi-enclosed space includes: receiving second broadcast information, where the second broadcast information is used for Indicate a vehicle located within the preset range of the positioning system; determine whether the vehicle is located within the preset range of the positioning system according to the second broadcast information.
  • the task of monitoring whether the vehicle is within the preset range of the positioning system can be performed by the server or the image acquisition device located in the semi-enclosed space. Therefore, the above-mentioned receiving second broadcast information may be receiving the second broadcast information sent by the server or receiving the second broadcast information sent by the image capture device located in the semi-enclosed space.
  • the second broadcast information when multiple positioning and positioning systems are installed in a semi-enclosed space, the second broadcast information further includes the number of the positioning system, so that the vehicle can determine whether it is itself based on the received second broadcast information. Within the preset range of the positioning system. The second broadcast information is carried in the broadcast channel.
  • the vehicle only needs to receive the second broadcast information indicating the vehicle within the preset range of a certain positioning system, and then match whether it is the vehicle indicated in the second broadcast information, and then it can determine whether the vehicle itself is in the location. Within the preset range of the system.
  • the computing resources on the vehicle side are saved, and the positioning efficiency of the vehicle in a semi-enclosed space is improved.
  • the vehicle is provided with a second color device, and the second color device includes one or more identification lights;
  • the second broadcast information carries instruction information, the instruction information Indicates the color and sequence of one or more identification lights;
  • the determining whether the vehicle is within the preset range of the positioning system in the semi-enclosed space according to the second broadcast information includes: according to the second broadcast Whether the color and sequence of the one or more identification lights indicated by the information matches the second color device to determine whether the vehicle is within the preset range of the positioning system.
  • a semi-enclosed space is provided with multiple positioning systems, each positioning system includes a positioning device and an image acquisition device, the color device is set on the vehicle, and the color or color arrangement of the color device on different vehicles The combination is different.
  • the indication information carried in the second broadcast information indicates the color and sequence of at least one color device, and the above-mentioned at least one color device is The color devices of multiple vehicles located within the preset range of the positioning system, when the color device of the vehicle itself is successfully matched with one of the color devices indicated in the second broadcast information, the vehicle is located in the preset range of the positioning system Inside.
  • the method further includes: acquiring movement information of the vehicle; The location information of the vehicle and the movement information of the vehicle navigate the vehicle in the map.
  • the vehicle combines the current position information of the vehicle and the movement information of the vehicle to use the inertial navigation technology to navigate the vehicle, so as to obtain the real-time position of the vehicle in the semi-enclosed space during the driving process.
  • the position information of the triggered positioning system is updated to the current position information of the vehicle, thereby realizing the precise positioning of the vehicle in the semi-enclosed space.
  • the multiple positioning systems provided in the semi-enclosed space divide the semi-enclosed space into multiple small sections, so that the driving time of the vehicle in each small section is greatly reduced compared with the driving time in the entire semi-closed space. Therefore, the error accumulated by the inertial navigation of the vehicle in each segment is negligible, which improves the accuracy of vehicle positioning.
  • an embodiment of the present application provides a vehicle positioning method, which includes: after a vehicle enters a semi-enclosed space, monitoring whether the vehicle is within a preset range of a positioning system in the semi-enclosed space; When the vehicle is within the preset range of the positioning system, second broadcast information is sent, and the second broadcast information is used to indicate that the vehicle is within the preset range of the positioning system so as to facilitate The vehicle is positioned according to the position information of the positioning system.
  • the server or the image acquisition device in the semi-enclosed space can monitor the vehicle and determine whether it is within the preset range of a certain positioning system in the semi-enclosed space.
  • the server or the image acquisition device in the semi-enclosed space sends out second broadcast information, so that the vehicle can determine whether it is within the preset range of the positioning system according to the second broadcast information Inside.
  • Semi-enclosed space refers to a space in which satellite signals are shielded or obscured, resulting in poor or unstable signals.
  • Semi-enclosed space includes underground space and above ground space with poor signal.
  • the server or the image acquisition device in the semi-enclosed space is responsible for the task of monitoring whether the current position of the vehicle is within the preset range of the positioning system.
  • the vehicle side does not need to execute the complex algorithm in the monitoring process, only by receiving the second broadcast information That is, it can be determined whether the own vehicle is within the preset range of the positioning system, which saves computing resources on the vehicle side and improves the positioning efficiency of the vehicle in a semi-enclosed space.
  • the monitoring whether the vehicle is located within the preset range of the positioning system in the semi-enclosed space includes: monitoring a third distance between the vehicle and the positioning system ; Determine whether the vehicle is within the preset range of the positioning system according to the third distance.
  • the server or the image acquisition device in the semi-enclosed space can determine whether the vehicle is within the preset range of the positioning system by monitoring the third distance between the vehicle and the positioning system, and the third distance is less than or equal to the preset range. Threshold, the vehicle is within the preset range of the positioning system.
  • the positioning system includes an image acquisition device and a positioning device, the map also includes information indicating the height of the image acquisition device from the ground; the positioning device is used to When the vehicle is located at the positioning device, the first broadcast information containing the location information of the positioning device is triggered; the vehicle is provided with a second color device; the monitoring of the first broadcast information between the vehicle and the positioning system Three distances, including; acquiring a second environment image collected by the image acquisition device, the second environment image including the image of the second color device; determining the vehicle and the image acquisition based on the second environment image The fourth distance between the devices; the third distance is obtained according to the fourth distance and the height of the image acquisition device from the ground.
  • the third distance is the distance between the vehicle on which the color device is located and the vertical plane, and the vertical plane is the plane perpendicular to the driving direction of the vehicle on which the positioning device is located;
  • the fourth distance is the spatial distance between the vehicle on which the color device is located and the positioning device .
  • the method for the server or the image acquisition device to obtain the third distance may also be: according to the fourth distance and the image The pitch angle when the acquisition device photographs the second color device to obtain the third distance.
  • the server or the image acquisition device installed in the semi-enclosed space uses computer vision processing technology to process the second environment image containing the color device on the vehicle to determine whether the vehicle is within the preset range of the positioning system. This method is not Affected by the shielding of satellite signals in a semi-enclosed space.
  • the positioning device includes a positioning grating or a geomagnetic sensor.
  • the determining the fourth distance between the vehicle and the image acquisition device according to the second environment image includes: identifying from the second environment image The second color device; determining the fourth distance according to the image of the second color device.
  • the server or the image acquisition device recognizes the second color device in the second environment image and obtains the pixel position and size of the second color device in the second environment image, according to the second color device in the second environment image.
  • the pixel location and size in the environmental image and the actual size information of the second color device in the map determine the fourth distance.
  • the image acquisition device in the server or semi-enclosed space identifies the color device on the vehicle and then determines the fourth distance of the vehicle to which the color device is located corresponds to the image acquisition device, thereby determining the distance between the vehicle and the positioning device corresponding to the color device.
  • the third distance This method is not affected by the shielding of satellite signals in the semi-enclosed space, and because the light environment in the semi-enclosed space is stable, the accuracy of the color device for identifying the vehicle can be improved.
  • the second color device includes one or more identification lights; the recognizing the second color device from the second environment image includes: The color and sequence of the one or more identification lights are used to identify the second color device.
  • the identification lights in the second color device can be configured to display visible lights of different colors.
  • the second color device may also include at least one light-emitting device, or the second color device may also include one or more colored metal plates.
  • the color device on the vehicle in the second environment image is identified based on the color and sequence of the color device, thereby obtaining the fourth distance of the vehicle from the image acquisition device, and determining the third distance of the vehicle from the positioning device corresponding to the image acquisition device. distance.
  • This method is not affected by the shielding of satellite signals in the semi-enclosed space, and because the light environment in the semi-enclosed space is stable, the accuracy of the color device for identifying the vehicle can be improved.
  • the second broadcast information carries indication information
  • the indication information indicates the color and sequence of the one or more identification lights
  • the indication information is used to indicate The vehicle determines whether the vehicle is within a preset range of the positioning system according to the color and sequence indicated by the indication information.
  • the second broadcast information can be used to assist the vehicle in determining whether its current position is within the preset range of the positioning system, so as to achieve the purpose of monitoring whether the vehicle is within the preset range of the positioning system.
  • the current position of the vehicle is the position information corresponding to the positioning system.
  • an embodiment of the present application provides a monitoring device, the monitoring device includes a receiver and a processor, wherein the receiver is used to obtain an environmental image collected by an image acquisition device, and the environmental image includes an image of a color device.
  • the processor is configured to: determine the distance between the color device and the image acquisition device according to the environmental image; according to the positional relationship between the image acquisition device and the color device and the image acquisition device The distance between the image acquisition device and the color device is determined, and the horizontal distance between the image acquisition device and the color device is determined; according to the horizontal distance between the image acquisition device and the color device, it is determined that the vehicle enters the After the semi-enclosed space, the vehicle is located within the preset range of the positioning device in the semi-enclosed space, so that the vehicle can be positioned according to the position information of the positioning device.
  • the processor is specifically configured to: identify the color device from the environmental image; determine the color device and the image collection based on the image of the color device The distance between the devices.
  • the color device includes one or more identification lights; the processor is specifically configured to: identify the color and sequence of the one or more identification lights. ⁇ The color device.
  • the color device is a first color device
  • the first color device and the positioning device are located in the semi-enclosed space
  • the image acquisition device and the locating device are located in the semi-enclosed space.
  • the monitoring device is located on the vehicle.
  • the second color device when the color device is a second color device, the second color device is located on the vehicle, and the image acquisition device and the positioning device are located in the half.
  • the monitoring device is integrated into the image acquisition device; the monitoring device further includes: a transmitter for sending second broadcast information when the vehicle is within a preset range of the positioning device , So that the vehicle determines whether the vehicle is within the preset range of the positioning device according to the second broadcast information.
  • the second color device when the color device is a second color device, the second color device is located on the vehicle, and the image acquisition device and the positioning device are located in the half.
  • the monitoring device is integrated in the server; the receiver is specifically used to: receive the environmental image sent by the image acquisition device; the monitoring device also includes: a transmitter, which is used to When it is within the preset range of the positioning device, sending second broadcast information, so that the vehicle determines whether the vehicle is within the preset range of the positioning device according to the second broadcast information.
  • the second broadcast information carries indication information
  • the indication information indicates the color and sequence of the one or more identification lights
  • the indication information is used to indicate The vehicle determines whether the vehicle is within a preset range of the positioning device according to the color and sequence indicated by the indication information.
  • an embodiment of the present application provides a device that includes: a monitoring unit for monitoring whether the vehicle is within the preset range of the positioning system in the semi-enclosed space after the vehicle enters the semi-enclosed space Acquisition unit, used for acquiring the location information of the positioning system in the semi-enclosed space on the map when the vehicle is within the preset range of the positioning system; unit unit, used for The location information locates the vehicle on the map.
  • the map is downloaded by the vehicle from a server, or the map is downloaded by the vehicle from a roadside unit at the entrance of a semi-enclosed space, or The map is obtained by the vehicle from other vehicles in the semi-enclosed space.
  • the monitoring unit is specifically configured to: determine a first distance between the vehicle and the positioning system; and determine whether the vehicle is located at the Within the preset range of the positioning system.
  • the positioning system includes a first color device and a positioning device, the map further includes information indicating the height of the first color device from the ground; the positioning device is used for Trigger first broadcast information when the vehicle is located at the positioning device; the device further includes a collection unit for shooting a first environment image, the first environment image including the image of the first color device; The monitoring unit is specifically configured to determine a second distance between the vehicle and the first color device according to the first environment image; according to the second distance and the ground clearance of the first color device, Obtain the first distance.
  • the positioning system includes a first color device and a positioning device, and the positioning device is used to trigger the first broadcast information when the vehicle is located at the positioning device;
  • the first broadcast information includes the location information of the positioning device;
  • the obtaining unit is specifically configured to: obtain the location information of the positioning device according to the first broadcast information sent by the positioning device; determine according to the location information of the positioning device Position information of the positioning system in the semi-enclosed space.
  • the first broadcast information includes a trigger moment and location information of the positioning device, and the trigger moment is used to indicate the moment when the positioning device is triggered by the vehicle.
  • the positioning unit is specifically configured to locate the vehicle on the map according to the location information and the trigger time.
  • the monitoring unit is specifically configured to: identify the first color device from the first environmental image; determine the first color device according to the image of the first color device Two distance.
  • the first color device includes one or more identification lights; the monitoring unit is specifically configured to: identify the first color device from the first environmental image The color device includes: recognizing the first color device by recognizing the color and sequence of the one or more identification lights.
  • the positioning device includes a positioning grating or a geomagnetic sensor.
  • the positioning unit is further configured to discard the first broadcast information when the vehicle is not within a preset range of the positioning system.
  • the acquiring unit is configured to: receive second broadcast information, the second broadcast information being used to indicate vehicles located within a preset range of the positioning system; and the monitoring The unit is specifically configured to determine whether the vehicle is within a preset range of the positioning system according to the second broadcast information.
  • the vehicle is provided with a second color device, and the second color device includes one or more identification lights;
  • the second broadcast information carries instruction information, the instruction information Indicates the color and sequence of one or more identification lights;
  • the monitoring unit is specifically configured to: according to whether the color and sequence of the one or more identification lights indicated by the second broadcast information match the second color device, To determine whether the vehicle is within a preset range of the positioning system.
  • the acquiring unit is further configured to: acquire the movement information of the vehicle; the positioning unit is further configured to: according to the position information of the vehicle and the movement information of the vehicle Navigating the vehicle in the map.
  • an embodiment of the present application provides a device that includes: a monitoring unit for monitoring whether the vehicle is within the preset range of the positioning system in the semi-enclosed space after the vehicle enters the semi-enclosed space ; Broadcast unit: in the case of monitoring that the vehicle is located within the preset range of the positioning system, send second broadcast information, the second broadcast information is used to indicate that the vehicle is located within the preset range of the positioning system Within the range to facilitate the positioning of the vehicle according to the position information of the positioning system.
  • the monitoring unit is specifically configured to: monitor a third distance between the vehicle and the positioning system; determine whether the vehicle is located at the Within the preset range of the positioning system.
  • the positioning system includes an image acquisition device and a positioning device, the map further includes information indicating the height of the image acquisition device from the ground; the positioning device is used to When the vehicle is located at the positioning device, the first broadcast information containing the location information of the positioning device is triggered; the vehicle is provided with a second color device; the device further includes an acquisition unit for acquiring the image collection A second environmental image taken by the device, where the second environmental image includes an image of the second color device; the monitoring unit is specifically configured to: determine the difference between the vehicle and the image acquisition device according to the second environmental image According to the fourth distance and the ground height of the image acquisition device, the third distance is obtained.
  • the monitoring unit is specifically configured to: identify the second color device from the second environmental image; determine the second color device according to the image of the second color device Four distances.
  • the second color device includes one or more identification lights; the monitoring unit is specifically configured to: identify the color and sequence of the one or more identification lights Out the second color device.
  • the second broadcast information carries indication information
  • the indication information indicates the color and sequence of the one or more identification lights
  • the indication information is used to indicate The vehicle determines whether the vehicle is within a preset range of the positioning system according to the color and sequence indicated by the indication information.
  • the positioning device includes a positioning grating or a geomagnetic sensor.
  • an embodiment of the present application provides a device, which includes: an acquisition unit configured to acquire an environmental image collected by an image acquisition device, where the environmental image includes an image of a color device; and a processing unit is configured to: The environmental image determines the distance between the color device and the image capture device; determines the distance between the image capture device and the color device and the distance between the image capture device and the color device The horizontal distance between the image capture device and the color device; according to the horizontal distance between the image capture device and the color device, it is determined that the vehicle is located in the semi-enclosed space after the vehicle enters the semi-enclosed space. Within the preset range of the positioning device in the enclosed space, so as to facilitate the positioning of the vehicle according to the position information of the positioning device.
  • the processing unit is specifically configured to: identify the color device from the environmental image; determine the color device and the image collection based on the image of the color device The distance between the devices.
  • the color device includes one or more identification lights; the processing unit is specifically configured to: identify the color and sequence of the one or more identification lights. ⁇ The color device.
  • the device further includes: a broadcasting unit, configured to send second broadcast information when the vehicle is within a preset range of the positioning device, so that the vehicle Determining whether the vehicle is within a preset range of the positioning device according to the second broadcast information.
  • a broadcasting unit configured to send second broadcast information when the vehicle is within a preset range of the positioning device, so that the vehicle Determining whether the vehicle is within a preset range of the positioning device according to the second broadcast information.
  • the acquisition unit is specifically configured to: receive the environmental image sent by the image acquisition device; the device further includes a broadcasting unit, which is configured to: When the positioning device is within the preset range, sending second broadcast information, so that the vehicle determines whether the vehicle is within the preset range of the positioning device according to the second broadcast information.
  • the second broadcast information carries indication information
  • the indication information indicates the color and sequence of the one or more identification lights
  • the indication information is used to indicate all The vehicle determines whether the vehicle is within a preset range of the positioning device according to the color and sequence indicated by the indication information.
  • an embodiment of the present application provides a system that further includes an image acquisition device, a color device, and a positioning device.
  • the color device and the positioning device are arranged in a semi-enclosed space, and the image acquisition device is arranged on a vehicle.
  • the image acquisition device is used to collect the image containing the color device and calculate the horizontal distance between the vehicle and the positioning device based on the image, and determine whether the vehicle is within the preset range of the positioning device according to the horizontal distance, so that the vehicle can determine that it is in the position of the positioning device. Positioning is performed when within the preset range.
  • an embodiment of the present application provides a system that further includes an image acquisition device, a color device, and a positioning device.
  • the color device is installed on a vehicle, and the positioning device and the image acquisition device are installed in a semi-enclosed space.
  • the image acquisition device is used to execute the method in the foregoing second aspect or any possible embodiment of the second aspect.
  • an embodiment of the present application provides a system that also includes an image acquisition device, a color device, a positioning device, and a server.
  • the color device is installed on the vehicle, and the positioning device and the image acquisition device are installed in a semi-enclosed space.
  • the image acquisition device is used to acquire an image containing the color device and send the image to the server, and the server is used to execute the method in the second aspect or any possible embodiment of the second aspect.
  • an embodiment of the present application provides a computer-readable storage medium, where the computer-readable medium stores program code for device execution, and the program code includes the program code for executing the first aspect or any of the first aspect.
  • a method instruction in a possible implementation.
  • an embodiment of the present application provides a computer-readable storage medium, where the computer-readable medium stores program code for execution by an apparatus, and the program code includes a program code for executing the second aspect or the second aspect. Instructions for methods in any possible implementation.
  • an embodiment of the present application provides a computer-readable storage medium, where the computer-readable medium stores program code for execution by the device, and the program code includes the program code for executing the third aspect or the third aspect. Instructions for methods in any possible implementation.
  • the embodiments of the present application provide a computer software product
  • the computer program software product includes program instructions
  • the device executes the foregoing first aspect or any one of the first aspects.
  • the method in possible embodiments.
  • the computer software product may be a software installation package.
  • the computer software product can be downloaded and executed on the device to achieve The method in the first aspect or any possible embodiment of the first aspect.
  • the embodiments of the present application provide a computer software product.
  • the computer program software product includes program instructions.
  • the device executes the foregoing second aspect or any one of the second aspects.
  • the method in possible embodiments.
  • the computer software product may be a software installation package. In the case that any one of the possible designs provided in the foregoing second aspect needs to be used, the computer software product can be downloaded and executed on the device to achieve The method in the second aspect or any possible embodiment of the second aspect.
  • the embodiments of the present application provide a computer software product.
  • the computer program software product includes program instructions.
  • the device executes the foregoing third aspect or any one of the third aspects.
  • the method in possible embodiments.
  • the computer software product may be a software installation package. In the case that any one of the possible designs provided in the foregoing third aspect needs to be used, the computer software product can be downloaded and executed on the device to achieve The method in the third aspect or any possible embodiment of the third aspect.
  • multiple sets of positioning devices and multiple sets of color devices with different colors can be set up to establish the color device and the positioning device with each other in the scene.
  • the color of the on-board color device can also be recognized by the image acquisition device and the position of the vehicle can be determined in sequence, and then combined with whether the positioning device is triggered by the vehicle to achieve the accurate positioning of the vehicle position. It effectively solves the problem of inaccurate or inaccurate positioning of vehicles in semi-enclosed spaces such as tunnels and parking lots where satellite signals are blocked or shielded, improves the robustness of vehicle positioning in semi-enclosed spaces, and reduces The construction cost of vehicle positioning.
  • FIG. 1 is an application system architecture provided by an embodiment of the present application
  • Figure 2 is another application system architecture provided by an embodiment of the present application.
  • FIG. 3 is a system architecture of another application provided by an embodiment of the present application.
  • Fig. 4 is a flowchart of a vehicle positioning method provided by an embodiment of the present application.
  • FIG. 5 is a flowchart of another vehicle positioning method provided by an embodiment of the present application.
  • FIG. 6 is a flowchart of another vehicle positioning method provided by an embodiment of the present application.
  • FIG. 7A is a schematic diagram of an identification light group provided by an embodiment of the present application.
  • FIG. 7B is a schematic diagram of yet another identification light group provided by an embodiment of the present application.
  • FIG. 8A is a schematic diagram of the deployment of an identification light group in a tunnel according to an embodiment of the present application.
  • FIG. 8B is a schematic diagram of another deployment of an identification light group in a tunnel according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram of positioning of a vehicle in a tunnel according to an embodiment of the present application.
  • FIG. 10A is a schematic diagram of yet another vehicle deployment in a tunnel provided by an embodiment of the present application.
  • FIG. 10B is a schematic diagram of yet another vehicle deployment in a tunnel provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a vehicle positioning scene provided by an embodiment of the present application.
  • FIG. 12 is a flowchart of a method for detecting a failure of an indicator lamp provided by an embodiment of the present application.
  • FIG. 13 is a flowchart of a vehicle positioning method provided by this embodiment of the present application.
  • 14A is a schematic diagram of positioning of a vehicle in a tunnel according to an embodiment of the present application.
  • 14B is a schematic diagram of yet another vehicle positioning in a tunnel provided by an embodiment of the present application.
  • FIG. 15 is a schematic diagram of a vehicle positioning scene provided by an embodiment of the present application.
  • FIG. 16 is a schematic diagram of a vehicle positioning scene provided by an embodiment of the present application.
  • FIG. 17 is a schematic structural diagram of a device provided by this embodiment of the present application.
  • FIG. 18 is a schematic structural diagram of another device provided by this embodiment of the present application.
  • FIG. 19 is a schematic structural diagram of a device provided by this embodiment of the present application.
  • FIG. 20 is a schematic structural diagram of a device provided by this embodiment of the present application.
  • FIG. 21 is a schematic diagram of the functional structure of a device provided by this embodiment of the present application.
  • FIG. 22 is a schematic diagram of the functional structure of a device provided by this embodiment of the present application.
  • FIG. 23 is a schematic diagram of the functional structure of a device provided by this embodiment of the present application.
  • the application of networked communication technology in vehicles is often referred to as the Internet of Vehicles (IoV). It is based on the in-vehicle network, the inter-vehicle network and the in-vehicle mobile Internet.
  • IoV Internet of Vehicles
  • Cars, roads, people, clouds, etc. a large system network for wireless communication and information exchange, that can realize real-time online communication between cars, cars and facilities, cars and the cloud.
  • V2V Vehicle to Vehicle
  • V2I Vehicle to Infrastructure
  • Communication between communication devices; the communication between the car and the cloud is also called Vehicle to Network (V2N), which refers to the communication between the car and the cloud through a cellular network.
  • V2N Vehicle to Network
  • the RGB color model is a color standard in the industry. It obtains a variety of colors by changing the three color channels of red (R), green (G), and blue (B) and superimposing them with each other.
  • RGB is the color representing the three channels of red, green, and blue. This standard includes almost all colors that human vision can perceive, and it is one of the most widely used color systems.
  • the value range of each color channel is [0,255], where "0" means no stimulus, and "255” means the stimulus reaches the maximum value, for example: when R, G, B are three When all values are 0, three-channel synthesis means black; when R, G, and B are all 255, three-channel synthesis means white light.
  • the values (r, g, b) of the three channels are called the color code of the color.
  • An inertial navigation system (Inertial Navigation System, INS) is also called an inertial reference system, which is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside (such as radio navigation).
  • the basic working principle of inertial navigation is based on the laws of Newton’s mechanics.
  • the core component of inertial navigation is the Inertial Measurement Unit (IMU), which is often installed on the center of gravity of the moving body. It is a device used to measure the three-axis attitude angle (or angular rate) and acceleration of the moving body, which mainly includes acceleration.
  • IMU Inertial Measurement Unit
  • the accelerometer is used to detect the acceleration signal of the moving body
  • the gyroscope is used to detect the angular velocity signal of the moving body relative to the navigation coordinate system.
  • the inertial navigation system can calculate the position of the next point from the position of a known point based on the continuously measured heading angle and speed of the moving body, so that it can continuously measure the current position of the moving body.
  • the gyroscope in the inertial navigation system is used to form a navigation coordinate system, so that the measurement axis of the accelerometer is stabilized in the coordinate system, and the heading and attitude angle are given; the accelerometer is used to measure the acceleration of the moving body, and the time The speed is obtained by integrating once, and the displacement can be obtained by integrating the speed once more with respect to time.
  • GNSS Global Navigation Satellite System
  • INS Inertial Navigation System
  • the signal is weak or shielded or blocked.
  • the vehicle cannot receive satellite signals in the tunnel or the received satellite signals are weak so that the vehicle cannot perform accurate positioning.
  • Due to the long distance of the tunnel if the vehicle uses its own inertial navigation to calculate its real-time position, the cumulative error of the inertial measurement unit will increase significantly over time, resulting in the inertial navigation accuracy difficult to meet the requirements.
  • Fig. 1 exemplarily shows a schematic block diagram of a vehicle positioning system in a semi-enclosed space applied in an embodiment of the present application.
  • the system 10 includes a vehicle and at least one set of positioning systems.
  • Each set of positioning systems includes a positioning device and a color device, and each set of positioning systems is set in a semi-enclosed space.
  • the semi-enclosed space allows vehicles to travel.
  • an image acquisition device is installed on the vehicle.
  • the image acquisition device is used to collect an image of the environment in front of the vehicle when the vehicle is driving.
  • the environment image contains the image of the color device.
  • the image acquisition device may be a video camera, a camera or other devices with an image acquisition function, which is not specifically limited in this application.
  • the image acquisition device in FIG. 1 may be illustrated by taking a camera as an example, but the embodiment of the present application does not limit the image acquisition device to only a camera.
  • the positioning device in the positioning system communicates with the vehicle through a wireless connection.
  • Semi-enclosed space refers to a space where vehicles are allowed to travel, but satellite signals are shielded or blocked, resulting in poor or unstable signals.
  • the semi-enclosed space can be underground tunnels, underground parking lots, mines, underground warehouses, underground construction sites, etc., and can also be underground pipelines, sewers, cellars, culverts, pits, hidden trenches and other spaces, which are not specifically limited in the embodiments of this application.
  • the semi-enclosed space is not limited to the space below the ground, but can also refer to the space on the ground where vehicles are allowed but the satellite signal is poor, such as: ground tunnels, indoor parking lots, indoor warehouses, etc.
  • a tunnel may be used as an example to illustrate the solution, but the embodiment of the present application does not limit the semi-closed space to only a tunnel.
  • the vehicle also contains a monitoring device, which is used to process and analyze the environmental image collected by the camera, for example, to identify the color device in the environmental image, to calculate the color device and the camera based on the image of the color device
  • a monitoring device which is used to process and analyze the environmental image collected by the camera, for example, to identify the color device in the environmental image, to calculate the color device and the camera based on the image of the color device
  • the vehicle can combine the received first broadcast information from when the positioning device is triggered, according to the The position of the positioning device realizes its own positioning in the semi-enclosed space.
  • the monitoring device can be integrated in the camera of the vehicle, or can exist in the vehicle independently of the camera, which is not specifically limited in this application.
  • the camera can directly process the environment image after collecting the environmental image containing the color device, and the processing result indicates that the vehicle is located in the preset position of the positioning device corresponding to the color device.
  • the camera may communicate with a control unit (for example, a processor) in the vehicle to enable the control unit to locate the vehicle according to the position information of the positioning device.
  • the monitoring device when the monitoring device is integrated in the vehicle but independent of the presence of the camera in the vehicle, the monitoring device first obtains the environmental image including the color device collected by the camera, and performs corresponding processing on the environmental image, and the processing result indicates the vehicle
  • the monitoring device may communicate with a control unit (for example, a processor) in the vehicle to enable the control unit to locate the vehicle according to the location information of the positioning device.
  • a control unit for example, a processor
  • the color device can be used to display a single color, or it can be used to display multiple different colors at the same time.
  • Multiple color devices are installed in the tunnel, usually on the top of the tunnel, so that the vehicle's camera can easily capture the color device. In some possible embodiments, it may also be installed on the side wall of the tunnel, which is not specifically limited in the embodiment of the present application. Since the tunnel is generally long, multiple color devices are arranged at intervals. In short, the color device is as direct as possible to the moving vehicle, and when the vehicle is running at high speed, it can effectively reduce the interference caused by the optical flow.
  • the color device may be an identification light group, the identification light group includes at least one identification light, and each identification light can be set to display a color of visible light in advance, and the number of identification lights in each identification light group is more At this time, each identification light group presents a permutation and combination of multiple colors.
  • the color device may also be at least one colored metal plate or other device that can display colors, which is not limited in the embodiment of the present application.
  • the positioning device may be a positioning grating or a geomagnetic sensor.
  • the triggered positioning device can broadcast a broadcast message indicating that it is triggered to all nearby vehicles. Since the positioning device corresponds to the color device one-to-one, if the number of the positioning device and the color device are both K, that is, the Ki-th color device corresponds to the Ki-th positioning device. Since the Ki-th positioning device and the Ki-th color device are installed in the same position, the position of the Ki-th color device and the position of the Ki-th positioning device are both the same as the position information of the Ki-th positioning system.
  • the embodiment of the application does not specifically limit the installation position of the color device and the positioning device in the positioning system in the semi-enclosed space.
  • the color device and the positioning device in the positioning system can be set in the direction of the vehicle.
  • the same vertical plane such as the same location at the same height, the same location at different heights, where the same location refers to the same plane; in addition, the color device and the positioning device can also be set on different planes perpendicular to the direction of the vehicle.
  • the distance between the color device and the plane where the positioning device is located should not be too far apart.
  • FIG. 2 exemplarily shows a schematic block diagram of a semi-enclosed space vehicle positioning system applied in an embodiment of the present application.
  • the system 20 may include a server, a vehicle, and at least one set of positioning systems, where each set of positioning systems includes an image acquisition device and a positioning device, the positioning system is installed in a semi-enclosed space, and a vehicle is installed Color device. Multiple positioning devices, multiple image acquisition devices, and vehicles communicate with the server through wireless connections.
  • the image acquisition device may be a video camera, a camera or other devices with an image acquisition function, which is not specifically limited in this application.
  • the image acquisition device in FIG. 2 may be illustrated by taking a camera as an example, but the embodiment of the present application does not limit the image acquisition device to only a camera.
  • Semi-enclosed space refers to the space where vehicles are allowed to travel but the satellite signal is poor.
  • Semi-enclosed space can be underground tunnels, underground parking lots, mines, underground warehouses, underground construction sites, etc., or underground pipelines, sewers, cellars, culverts, etc. Spaces such as pits and dark ditches are not specifically limited in the embodiment of the present application.
  • the semi-enclosed space is not limited to the space below the ground, but can also refer to the space on the ground that allows vehicles to travel and has poor satellite signals, such as ground tunnels, indoor parking lots, indoor warehouses, etc.
  • a tunnel may be used as an example to illustrate the solution, but the embodiment of the present application does not limit the semi-closed space to only a tunnel.
  • the function of the server is that, on the one hand, it is used to receive the collected environmental images sent by the cameras in the positioning system, and store these environmental images according to the camera numbers.
  • the server is also integrated with a monitoring device for processing and analyzing the received environmental image, for example, identifying the color device in the environmental image, calculating the distance between the color device and the camera based on the image of the color device, etc. , To monitor whether there is a vehicle within the preset range of the positioning device corresponding to the camera. If there is a vehicle within the preset range of the positioning device, the second broadcast information is sent out, and the second broadcast information indicates that it is located in the preset range of the positioning device. Vehicles within range.
  • the server may also send a map of the semi-enclosed space to vehicles that are about to enter or have entered the semi-enclosed space.
  • the map includes the location information of the positioning system, the number of the camera, and the height of the camera from the ground.
  • the server may also broadcast the first broadcast information to the outside, and the first broadcast information indicates that a vehicle has triggered the positioning system.
  • the color device is installed on the vehicle, usually on the top of the vehicle, so that it can be easily captured by a camera installed in a semi-enclosed space. In some possible embodiments, the color device may also be installed on the front cover of the vehicle or other conspicuous locations on the vehicle.
  • the color device is a device that can adjust the color, for example, an identification light group.
  • the identification light group includes at least one identification light. Each identification light can be set to display one color of visible light, and one identification light group presents a different color Permutations. It should be noted that the colors or the order of the colors presented by the color devices on different vehicles are different. In other words, the color devices on each vehicle are unique.
  • Cameras usually, are installed on the top of the ceiling of the tunnel, and are used to photograph the color devices on the vehicles in the tunnel.
  • the camera sends the collected images to the server, so that the server stores the received images according to the camera number. Since the tunnel is generally long, multiple cameras are installed at intervals in the tunnel, and the distance between adjacent cameras may be fixed, or it may be adjusted according to local conditions such as the curve parameters of the tunnel, which is not specifically limited in the embodiment of the present application.
  • the positioning device may be a positioning grating or a geomagnetic sensor, and the location information of the positioning device is stored in the server.
  • the positioning device may directly send the first broadcast information to the outside, or may report its own number to the server so that the server may send the first broadcast information, which is not limited in this application.
  • the first broadcast information may also carry the position information of the positioning device to assist the vehicle in realizing its precise positioning in the semi-enclosed space.
  • the embodiment of the present application does not specifically limit the installation position of the image acquisition device and the positioning device in the positioning system in the semi-enclosed space.
  • the image acquisition device and positioning device can also be set perpendicular to the vehicle’s driving direction The distance between the image acquisition device and the plane where the positioning device is located should not be too far apart.
  • Fig. 3 exemplarily shows a schematic block diagram of a semi-enclosed space vehicle positioning system applied in an embodiment of the present application.
  • the system 30 may include a vehicle and at least one set of positioning systems, where each set of positioning systems includes an image acquisition device and a positioning device.
  • the positioning system is installed in a semi-enclosed space, and a color is installed on the vehicle. Device.
  • the multi-group positioning system communicates with the vehicle through a wireless connection.
  • the image acquisition device may be a video camera, a camera or other devices with an image acquisition function, which is not specifically limited in this application.
  • the image acquisition device in FIG. 3 may be illustrated by taking a camera as an example, but the embodiment of the present application does not limit the image acquisition device to only a camera.
  • Semi-enclosed space refers to a space that allows vehicles to travel but has poor satellite signals.
  • Semi-enclosed space can be large spaces such as underground tunnels, underground parking lots, mines, underground warehouses, and underground construction sites, as well as underground pipelines, sewers, cellars, and culverts. , Pits, dark trenches and other spaces where signals are severely blocked, and the embodiments of this application do not make specific limitations.
  • the semi-enclosed space is not limited to the space below the ground, but can also refer to the space on the ground that allows vehicles to travel and has poor satellite signals, such as ground tunnels, indoor parking lots, indoor warehouses, etc.
  • a tunnel may be used as an example to illustrate the solution, but the embodiment of the present application does not limit the semi-closed space to only a tunnel.
  • the camera usually installed on the ceiling of the tunnel, is used to shoot the color device on the vehicle in the tunnel to obtain the environmental image including the color device on the vehicle.
  • the camera is also integrated with a monitoring device so that the camera can directly capture Processing and analysis of the environment image, for example, identifying the color device in the environment image, calculating the distance between the color device and its own camera based on the image of the color device, etc., to monitor whether a vehicle is located in the preset positioning device corresponding to the camera Within the range, if a vehicle is located within the preset range of the positioning device, the second broadcast information is sent out, and the second broadcast information indicates a vehicle located within the preset range of the positioning device. Since the tunnel is generally long, there may be multiple cameras installed at intervals in the tunnel. The distance between adjacent cameras may be fixed, or it may be adjusted according to local conditions such as the curve parameters of the tunnel. The embodiment of this application does not specifically limit it. .
  • the color device is located on the vehicle.
  • the color device please refer to the related description in the embodiment of FIG.
  • the positioning device can be a positioning grating or a geomagnetic sensor.
  • the positioning device may send out first broadcast information, and the first broadcast information indicates that a vehicle triggers the positioning device.
  • the first broadcast information may also carry the position information of the positioning device to assist the vehicle in realizing its precise positioning in the semi-enclosed space.
  • the following describes a vehicle positioning method provided by an embodiment of the present application, and the method includes but is not limited to the following steps:
  • the vehicle after the vehicle enters the semi-enclosed space, the vehicle needs to monitor whether the vehicle is currently within the preset range of the positioning system. In short, it is to monitor whether the vehicle is located near the positioning system. Exemplarily, the vehicle can determine whether it is within the preset range of the positioning system by calculating the distance between itself and the positioning system. In some possible embodiments, the vehicle may also determine whether it is the vehicle by receiving broadcast information indicating a vehicle within the preset range of the positioning system, and never determines whether it is within the preset range of the positioning system.
  • a semi-enclosed space is a space that allows vehicles to travel but has poor satellite signals due to signal shielding or occlusion.
  • Semi-enclosed spaces can be large spaces such as underground tunnels, underground parking lots, mines, underground warehouses, and underground construction sites, as well as underground pipelines, sewers, cellars, culverts, pits, hidden trenches and other spaces with serious signal obstruction. Examples of this application There is no specific limitation. It should be noted that in the embodiments of the present application, the semi-enclosed space does not refer to the space below the ground, but can also refer to the space on the ground that allows vehicles to travel and has poor satellite signals, such as ground tunnels, indoor parking lots, etc.
  • the vehicle in the embodiment of the present application is an example of a means of transportation, and the vehicle can generally refer to transportation means such as cars, automobiles, tourist buses, bicycles, and electric vehicles.
  • the vehicle may also be a logistics transportation tool such as an electric forklift, a mining truck, or a truck, which is not specifically limited in the embodiment of the present application.
  • the positioning system includes a positioning device and a first color device that are set at the same location and different heights.
  • the vehicle determines whether it is within the preset range of the positioning system by calculating the first distance between itself and the positioning system.
  • the specific process is as follows : The camera on the vehicle captures an environmental image containing the color device in the driving section ahead, determines the second distance between itself and the first color device by identifying the first color device in the environmental image, and then combines the first color device with the vehicle
  • the above position relationship (for example, the vertical height difference) determines the first distance of the vehicle from the positioning device, and the first distance also represents the distance of the vehicle from the positioning system where the positioning device is located.
  • a semi-enclosed space map is stored in the vehicle, and the map contains information indicating the ground clearance of the first color device. Since the ground clearance of the camera on the vehicle is known, the vehicle can The vertical height difference between the first color device and the vehicle camera is obtained, and the first distance between the vehicle and the positioning device corresponding to the first color device can be calculated. For example, if the first distance is less than or equal to the preset threshold, the vehicle is located within the preset range of the positioning system; if the first distance is greater than the preset threshold, the vehicle is not located within the preset range of the positioning system.
  • each set of positioning systems includes color devices and positioning devices set at the same location and different heights, and the colors or color arrangement sequence of the color devices at different locations different.
  • let’s take a group of positioning systems as an example. After a vehicle captures a first environmental image containing the color devices in the group of positioning systems through a camera, the color device can be identified by identifying the color of the color device, so that the map is also known. Information about the color device in the.
  • the vehicle obtains the analysis result of the color of the color device from the first environment image, the analysis result indicates the color and order of the color device, and the vehicle compares the analysis result with each color device in the semi-enclosed space map according to the analysis result. Therefore, the vehicle can determine the number of the recognized color device in the semi-enclosed space, and can also obtain the ground height of the color device from the map. The vehicle can further calculate the position between its own vehicle and the positioning device corresponding to the color device. A distance.
  • the positioning system includes a color device and a positioning device
  • the color device and positioning device in the positioning system can be set on the same plane perpendicular to the driving direction of the vehicle, such as the same location at the same height, and the same location at different heights.
  • the same position refers to the same plane; in addition, the color device and the positioning device can also be set on different planes perpendicular to the driving direction of the vehicle, but the distance between the color device and the plane where the positioning device is located should not be too different Far.
  • This application does not specifically limit the installation positions of the color device and the positioning device in the same positioning system in the semi-enclosed space.
  • the vehicle monitors whether it is within the preset range of the positioning system by calculating the first distance, and the map of the semi-enclosed space stored in the vehicle may be
  • the vehicle pre-stored can be obtained from the server or the roadside unit at the entrance of the semi-enclosed space or the vehicle that has entered the semi-enclosed space before the vehicle enters the semi-enclosed space. It comes with a navigation map.
  • the vehicle before the vehicle enters a semi-enclosed space, it can use its GPS positioning to determine the current semi-enclosed space closest to its own vehicle, and finally obtain the semi-enclosed space map from the built-in navigation map .
  • the vehicle may also download the semi-enclosed space from the server after entering the semi-enclosed space but before identifying the color device in the semi-enclosed space or before the vehicle starts to monitor whether it is within the preset range of the positioning system
  • This application does not specifically limit the map or the map sent by the vehicle in front that receives the map in the semi-enclosed space.
  • the vehicle monitors whether it is in the vehicle by receiving the broadcast information indicating the vehicle within the preset range of the positioning system (that is, the second broadcast information hereinafter).
  • the preset range of the positioning system the time point at which the vehicle obtains the map of the semi-enclosed space can be in addition to the above-mentioned situations. It also includes that the vehicle can only get from the server or the semi-enclosed space when it is within the preset range of a certain positioning system. Obtain or download the map of the semi-enclosed space from other vehicles and other places.
  • the time for the vehicle to acquire the map of the semi-enclosed space needs to be before the time point when the vehicle executes S102 to acquire the location information of the positioning system in the semi-enclosed space in the map.
  • a semi-enclosed space is provided with at least one set of positioning systems, each set of positioning systems includes cameras and positioning devices set at the same location and different heights, and the semi-enclosed space is not provided with a color device, but is installed on a vehicle entering the semi-enclosed space There are color devices.
  • the color or color arrangement sequence of the color devices of different vehicles is different.
  • the way for the vehicle to monitor whether it is within the preset range of the positioning system can also be: the vehicle receives the second broadcast information, and the second broadcast information indicates that it is located in the For vehicles within the preset range of the positioning system, the vehicle can determine whether it is within the preset range of the positioning system according to the second broadcast information.
  • the second broadcast information may be sent by the server.
  • the camera integrates functions such as image processing, analysis and calculation
  • the second broadcast information may also be directly sent by a camera in a semi-enclosed space. , This application does not make specific restrictions.
  • the camera and positioning device in the positioning system can be set on the same plane perpendicular to the driving direction of the vehicle.
  • the position refers to the same plane; in addition, the camera and the positioning device can also be set on different planes perpendicular to the driving direction of the vehicle, but the distance between the plane where the camera and the positioning device are located should not be too far apart.
  • This application does not specifically limit the installation positions of the camera and the positioning device in the same positioning system in the semi-enclosed space.
  • the second broadcast information indicates the color or color arrangement sequence of the color device
  • the color device referred to in the second broadcast information is the color device of a vehicle located within the preset range of the positioning system, and the vehicle can Match the color or sequence indicated by the second broadcast information with the color device of the vehicle. If the matching is successful, it means that the vehicle is within the preset range of the positioning system; if the matching fails, it means that the vehicle is not located in the positioning system. Within the preset range.
  • the color devices can be set on the ceiling or the height of the wall in the semi-enclosed space to facilitate the collection by the vehicle's camera.
  • the number of color devices in the semi-closed space is the same as the number of positioning devices, and the color devices and the positioning devices correspond one-to-one.
  • color devices at different positions are usually made to have different colors or different color arrangement sequences, and there are obvious visual differences between two or more adjacent color devices, which greatly reduces the recognition.
  • the bit error rate of the color device at different positions can realize the positioning requirement of the vehicle in a semi-enclosed space.
  • the two color devices are often set in two places far apart in the semi-enclosed space, such as a tunnel. Entrance and exit.
  • the color device may be an identification lamp group, and each identification lamp group includes at least one identification lamp or other light-emitting device.
  • the identification lamp or the light-emitting device may be an incandescent lamp, a halogen lamp, a fluorescent lamp, an energy-saving lamp, an LED lamp, High-pressure sodium lamps, metal halide lamps, electrodeless lamps, neon lamps, etc., and the light-emitting color of each sign or light-emitting device can be adjusted according to color coding. Therefore, the display colors of the color devices at different positions are set in advance according to the color code.
  • the color device may also be a colored metal plate, and the number of the metal plate is at least one.
  • the color device displays multiple different colors at the same time.
  • each color device has a corresponding color code.
  • the color code indicates the color and/or color arrangement sequence of the color device.
  • the color code of the color device is stored in a semi-closed space map.
  • the color device may also be other colored devices, which are not specifically limited by the embodiments of the present application.
  • the vehicle obtains position information of the positioning system in the semi-enclosed space on the map.
  • the vehicle when the vehicle determines that it is within the preset range of a certain positioning system, it means that the vehicle has triggered the positioning system, and the vehicle can obtain the positioning system's location in the semi-enclosed space from the map of the semi-enclosed space. location information.
  • the location information of the positioning system is stored in the map of the semi-enclosed space. It should be noted that the manner and time for the vehicle to obtain the map of the semi-enclosed space can refer to the relevant description in S101, and for the sake of brevity of the description, it will not be repeated here.
  • the so-called position information can be the coordinate value of the positioning system in any coordinate system.
  • the positioning system corresponds to the longitude, latitude and altitude in the world geodetic coordinate system (Word Geodetic System 1984, WGS84).
  • the composed three-dimensional coordinates may also be three-dimensional coordinates composed of X, Y, and Z coordinates in the natural coordinate system or coordinates in other coordinate systems.
  • the position information may also indicate that the positioning system is away from the entrance or exit of the semi-enclosed space. the distance.
  • each group of positioning systems in a semi-enclosed space includes a color device and a positioning device, and when the camera is located in the vehicle, the vehicle is based on the calculated first distance (the positioning device corresponding to the camera and the color device).
  • the vehicle can obtain the set of positioning devices and the positioning device from the map in the semi-enclosed space. Location information of the positioning system where the color device is located.
  • the vehicle compares the identified color devices with each color device in the semi-enclosed space map to determine the number of the identified color device in the semi-enclosed space.
  • the position information of the positioning system corresponding to the color device can be obtained on the map of the semi-enclosed space according to the number of the color device.
  • each group of positioning systems in a semi-enclosed space includes a camera and a positioning device, and the color device is located in the vehicle
  • the second broadcast information received by the vehicle indicates the preset location of the positioning system.
  • Set the vehicles within the range for example, that is, the second broadcast message carries color codes not only for the color devices of the vehicles located within the preset range of the positioning system, and the color codes indicate the colors and colors of the color devices on these vehicles.
  • the second broadcast information also carries the number of the positioning system where the color device is located, so that after the vehicle is successfully matched with the color device indicated in the second broadcast information, it means that the vehicle is within the preset range of the positioning system .
  • the position information of the positioning system in the semi-enclosed space can be obtained from the map of the semi-enclosed space according to the number of the positioning system where the color device is located.
  • the vehicle determines that it is currently within the preset range of a certain positioning system, it can also be considered that the vehicle has approached the positioning system but has not triggered the positioning system at the corresponding position of the positioning system. If and only when the vehicle receives the first broadcast information sent when the positioning system is triggered, and the first broadcast information indicates that a vehicle triggers the positioning system at the location corresponding to the positioning system, the vehicle can be determined to be itself When the positioning system is triggered, the vehicle can obtain the position information of the positioning system from the map in the semi-enclosed space to assist the vehicle in achieving precise positioning.
  • the map in the semi-enclosed space is marked with a number that characterizes the location of the color device and the location system where the corresponding positioning device is located, but there is no specific location information.
  • the first broadcast The information can also carry the location information of the positioning device and the number of the positioning device, so that the vehicle can match the number corresponding to the identified color device with the number of the positioning device in the first broadcast information. If the matching is successful, the vehicle can The position information of the positioning device in the first broadcast information is used as the position information of the positioning system in which the positioning device is located in the semi-enclosed space.
  • each set of positioning systems in a semi-enclosed space includes a positioning device and a color device, but the positioning device and the color device are located at different heights in similar positions, and only the colors in the set of positioning systems are displayed on the map.
  • the location information corresponding to the device.
  • the vehicle when the vehicle is determined to be within the preset range of a positioning system, the vehicle also needs to receive the first broadcast information sent when the positioning device in the positioning system is triggered.
  • the information carries the position information and number of the positioning device, and the vehicle can obtain the position information of the positioning device from the first broadcast information, thereby obtaining the position information of the positioning system where the positioning device is located in the semi-enclosed space.
  • the positioning device in the positioning system may be a positioning grating or a geomagnetic sensor or other devices that can detect whether a vehicle passes by.
  • the vehicle locates itself on the map according to the location information of the positioning system.
  • the vehicle can be based on the position information of the positioning system. Position itself in a semi-enclosed space map. Specifically, the vehicle uses the position information of the positioning system as the position information of the vehicle, so as to realize the positioning of the vehicle in the semi-enclosed space.
  • the vehicle determines that it is within the preset range of a certain positioning system, and the vehicle receives the first broadcast information sent when the positioning device corresponding to the positioning system is triggered, the vehicle can follow the A broadcast information determines the location information of the positioning system, and combines it with a map to realize its own precise positioning. Specifically, the vehicle uses the position information of the positioning system as the position information of the vehicle, so as to realize the positioning of the vehicle in the semi-enclosed space.
  • the positioning system may also send the first broadcast information after a period of time after the positioning system is triggered, and the first broadcast information received by the vehicle from the positioning system carries the trigger time and the The position information of the positioning system. If the vehicle is currently within the preset range of the positioning system, the current position information of the vehicle can be calculated according to the trigger time, position information, current time and the movement information of the vehicle in the first broadcast information, so as to achieve The positioning of the vehicle in a semi-enclosed space. It should be noted that the trigger moment is used to indicate the moment when the positioning system is triggered by the vehicle.
  • time difference between the time when the positioning system sends the first broadcast information and the time when the vehicle receives the first broadcast information from the positioning system can be ignored.
  • the first broadcast information carries the number of the positioning device. Since the first broadcast information is carried in the broadcast information and is sent, it may cause that when a certain vehicle triggers a certain positioning device, the location in the semi-enclosed space All vehicles have received the first broadcast information sent by the positioning device, but whether the received first broadcast information is useful for the own vehicle remains to be determined.
  • the vehicle receives the first broadcast information sent by the first positioning device when the vehicle is currently located within the preset range of the first positioning device, the first broadcast information is useful to the vehicle; if the vehicle is not currently located in the first positioning device’s Within the preset range but the first broadcast information sent by the first positioning device is received, the first broadcast information is useless for the vehicle; if the current vehicle is within the preset range of the first positioning device, the first broadcast information is also received from the first positioning device. If the first broadcast information from the positioning device and the first broadcast information from the second positioning device are used, the first broadcast information from the first positioning device is useful for the vehicle, and the first broadcast information from the second positioning device is not useful for the vehicle. It should be noted that when the vehicle determines that the first broadcast information is useless to itself, the vehicle may directly discard the first broadcast information that is useless to itself.
  • the vehicle can also use inertial navigation technology to realize its own navigation on the road segment.
  • inertial navigation technology For related descriptions, please refer to the related description in Figure 5 below. , I won’t repeat it here.
  • At least one set of positioning systems are provided in the semi-enclosed space to assist the vehicle in achieving precise positioning in the semi-enclosed space.
  • the vehicle can use the location information of the corresponding positioning system as its own location information to achieve precise positioning within the preset range of the vehicle and/or when receiving information indicating that the positioning system is triggered. This effectively solves the problem of obstructing or shielding satellite signals.
  • the problem of inaccurate or inaccurate positioning of vehicles in tunnels, underground and other scenarios improves the robustness of vehicle positioning in semi-enclosed spaces with poor signals, and reduces the construction cost of vehicle positioning in semi-enclosed spaces.
  • FIG. 5 based on the system architecture described in the above implementation, the following describes a vehicle positioning method provided by an embodiment of the present application. It should be noted that the embodiment in FIG. 5 may be independent of the embodiment in FIG. 4, or may be a supplement to the embodiment in FIG. 4. The method includes but is not limited to the following steps:
  • a map of the semi-enclosed space needs to be obtained first, and the map contains the position information of the positioning system installed in the semi-enclosed space in the semi-enclosed space.
  • the positioning system is used to sense whether a vehicle passes by, and the positioning system includes a positioning device, which may be a positioning grating or a geomagnetic sensor.
  • a semi-enclosed space is a space that allows vehicles to travel but has poor satellite signals due to shielding or occlusion.
  • Semi-enclosed spaces can be large spaces such as underground tunnels, underground parking lots, mines, underground warehouses, and underground construction sites, as well as underground pipelines, sewers, cellars, culverts, pits, hidden trenches and other spaces with serious signal obstruction. Examples of this application There is no specific limitation. It should be noted that, in the embodiments of the present application, the semi-enclosed space is not limited to the space below the ground, but can also refer to the space on the ground that allows vehicles to travel and has poor satellite signals, such as ground tunnels, indoor parking lots, etc.
  • the vehicle in the embodiment of the present application is an example of a means of transportation, and the vehicle can generally refer to transportation means such as cars, automobiles, tourist buses, bicycles, and electric vehicles.
  • the vehicle may also be a logistics transportation tool such as a mining cart, a truck, etc., which is not specifically limited in the embodiment of the present application.
  • the way for the vehicle to obtain the map of the semi-enclosed space may be obtained from the server.
  • the vehicle sends a first request to the server.
  • the first request is used to request the server to send a map of the semi-enclosed space.
  • the first request carries the current location information of the vehicle.
  • the first request determines the semi-enclosed space near the vehicle, and sends the vehicle a map of the semi-enclosed space that the vehicle is about to enter.
  • the vehicle can also obtain a map of a semi-enclosed space through its own navigation system. Specifically, before the vehicle enters the semi-enclosed space, the current location information is determined through its own navigation system. For example, the name of the semi-enclosed space near its location can be determined, and then the corresponding semi-enclosed space information can be obtained from the map of the navigation system. The map is fine.
  • the vehicle may also obtain the map from the roadside unit at the entrance of the semi-enclosed space, or may also obtain the map by receiving the map sent by other vehicles that have entered the semi-enclosed space.
  • the map of the semi-enclosed space may also be carried by the vehicle when it leaves the factory and stored in the memory of the vehicle, which is not limited in the embodiment of the present application.
  • the positioning system includes a positioning device.
  • the so-called positioning system being triggered means that a vehicle is very close to the positioning device, a vehicle passes through the positioning device, or a vehicle is located at the positioning device, causing the positioning device to be triggered.
  • the positioning system sends first broadcast information to all vehicles in the semi-enclosed space.
  • the first broadcast information is used to indicate that a vehicle has triggered the positioning system.
  • the first broadcast information can be used to assist the vehicle in determining whether the positioning system is triggered by itself.
  • the positioning system includes a positioning device, which can be a positioning grating or a geomagnetic sensor, and the positioning device is used to sense whether a vehicle passes by.
  • the positioning system can immediately send the first broadcast information when it is triggered by the vehicle, and the positioning system can also send the first broadcast information within a period of time after the positioning system is triggered, which is not specifically limited in this application.
  • the first broadcast information may also carry the trigger moment, which is used to indicate the moment when the positioning system is triggered, so that the vehicle can calculate according to the trigger moment, the position information of the positioning system, the current moment, and the movement information. The current position of the vehicle can thus be positioned.
  • the positioning device may be a positioning grating, which can be used to emit laser or infrared rays, and the positioning grating is usually arranged on the side of a semi-enclosed space lane.
  • the positioning grating determines that there is a vehicle passing by according to the intensity change of the reflected laser or infrared, that is, a vehicle triggers the positioning grating, and the positioning grating senses it. , Which sends the first broadcast message to all nearby vehicles.
  • the first broadcast message carries the number of the triggered positioning grating.
  • the positioning device may be a geomagnetic sensor, which may be used to detect the presence of a vehicle, and the geomagnetic sensor is generally buried in a lane set in a semi-enclosed space. Specifically, when a vehicle passes by, the vehicle cuts the magnetic line of induction of the geomagnetic sensor to cause a change in the magnetic field. The geomagnetic sensor will then sense that a vehicle passes, which means that the geomagnetic sensor is triggered. After the geomagnetic sensor detects it, That is, the first broadcast message is sent to all nearby vehicles. When there are multiple geomagnetic sensors in a semi-enclosed space, the first broadcast message carries the number of the geomagnetic sensor that is triggered.
  • the semi-enclosed space when the semi-enclosed space is large, multiple positioning systems can be arranged in the semi-enclosed space at intervals according to actual needs.
  • the distance between two adjacent positioning systems can be fixed or based on the semi-enclosed space.
  • the internal structure of the system is adapted to local conditions.
  • the precise position of each group of positioning systems has been measured in advance, and each positioning system has a unique number, and its number corresponds to its position one-to-one.
  • the number and position information of the positioning system can be stored in a semi-enclosed space map, or only the number of the positioning system can be stored in a semi-enclosed space map, and the position information and number of the positioning device can be included in the first broadcast information Was broadcast.
  • the server when a vehicle triggers a positioning system, the server can directly sense which positioning system in the semi-enclosed space is triggered.
  • the server may send out the first broadcast information, and the first broadcast information indicates that a vehicle triggers the positioning system.
  • the positioning system when a vehicle triggers the positioning system, the positioning system first reports its own number to the server, and the server sends out the first broadcast information.
  • the first broadcast information indicates that a vehicle triggers the positioning system. .
  • the vehicle receives the first broadcast information, and when the vehicle is within a preset range of the positioning system, obtains the location information of the positioning system on the map, and locates the vehicle on the map according to the location information.
  • the first broadcast information received by the vehicle can assist the vehicle to determine whether the positioning system is triggered by itself.
  • the vehicle triggers the positioning system.
  • the positioning system can obtain the position information of the positioning system from the map, and use the position information of the positioning system as the position information of the vehicle to locate the vehicle on the map.
  • the relevant description in S102 for the specific operation of the vehicle to obtain the location information of the positioning system from the map, refer to the relevant description in S102, which will not be repeated here.
  • the vehicle may also first receive the first broadcast information from a positioning device, and then determine whether the vehicle is currently located within the preset range of the positioning device. When the vehicle determines that it is currently located within the preset range of the positioning device When it is within the range, the position information of the positioning device is used as the position information of the vehicle for positioning; when the vehicle is not within the preset range of the positioning device, the first broadcast information received from the positioning device this time is discarded.
  • the first broadcast information received by the vehicle carries the location information and the trigger time of the positioning device.
  • the vehicle can use the first broadcast information
  • the location information and trigger time of the positioning device are combined with the current time and the vehicle's motion information to locate the vehicle on the map.
  • the occurrence or execution sequence of receiving the first broadcast information and whether the vehicle monitors whether it is within the preset range of the positioning system is not specifically limited.
  • the first broadcast information please refer to S103.
  • S103 For the sake of brevity of the description, it will not be repeated here.
  • the position information of the current positioning system can be used as the position information of the vehicle to realize accurate positioning of the vehicle in a semi-enclosed space.
  • the vehicle can also obtain its own motion information, such as the acceleration, speed, and driving direction of the vehicle. Based on the obtained precise position (that is, the position information of the current positioning system) and the vehicle’s motion information, the vehicle can use its own motion information.
  • the inertial navigation system navigates the vehicle on a map in a semi-enclosed space.
  • the vehicle can compare the vehicle on the map based on its own location information and movement information. Navigate. It should be noted that the so-called vehicle triggering the next positioning system means that the vehicle is located within the preset range of the next positioning system and the vehicle receives the first broadcast information indicating that the next positioning system is triggered.
  • the inertial navigation system is based on the quadratic integration of the acceleration measured by the inertial measurement unit IMU and the positioning of the current position of the vehicle, the IMU will accumulate errors, and the accumulated errors will increase significantly over time. Since multiple positioning systems are arranged at intervals in the semi-enclosed space, and the distance between two adjacent positioning systems is much smaller than the length of the entire semi-enclosed space, the distance between two adjacent positioning systems The resulting cumulative error of the IMU is negligible.
  • At least one set of positioning systems are provided in the semi-enclosed space to assist the vehicle in achieving precise positioning in the semi-enclosed space.
  • the vehicle When the vehicle is located in the positioning system
  • the vehicle When the vehicle is within the preset range and receives trigger information from the positioning system, the vehicle can achieve precise positioning according to the location information of the corresponding positioning system, which effectively solves the problem that the vehicle cannot be positioned in the tunnel or underground where the satellite signal is blocked or shielded. Or the problem of inaccurate positioning improves the robustness of vehicle positioning in a semi-enclosed space with poor signal and saves the construction cost of vehicle positioning.
  • a vehicle positioning method provided by an embodiment of the present application, in which a tunnel may be used as an example in a semi-enclosed space, and an identification light group may be used as an example in the color device.
  • the positioning device may take a positioning grating as an example to illustrate the solution, but the embodiment of the present application does not limit the semi-enclosed space to be only a tunnel, the color indicating device is only an identification light group, or the positioning device is only a positioning grating. It should be noted that, in the embodiment of FIG.
  • K groups of positioning systems are set in the tunnel, and each group of positioning systems includes a positioning grating and a marking light group, that is, there are K positioning gratings and K marking light groups, and K is greater than An integer of 1.
  • the embodiment in FIG. 6 may be independent of the embodiment in FIGS. 4 and 5, or may be a supplement to the embodiment in FIGS. 4 and 5.
  • the method includes but is not limited to the following steps:
  • the vehicle before the vehicle enters the target tunnel, the vehicle sends a first request to the third device to obtain a map of the target tunnel.
  • the third device may be a server, a roadside unit at the entrance of the target tunnel, or other vehicles that have entered the target tunnel, etc., which is not specifically limited in the embodiment of the present application.
  • the third device may take a server as an example to illustrate. Before the vehicle enters the target tunnel, it sends a first request to the server. The first request carries the current location information of the vehicle, so that the server can determine the tunnel closest to the vehicle according to the location information carried in the first request.
  • This application is implemented The target tunnel in the example.
  • the vehicle may also obtain the map of the target tunnel from the roadside unit at the entrance of the target tunnel or other vehicles that have entered the target tunnel, which is not specifically limited in the embodiment of the present application.
  • S302 The server sends a map of the target tunnel to the vehicle.
  • the server after the server receives the first request from the vehicle, it determines the tunnel closest to the vehicle as the target tunnel according to the position of the vehicle carried in the first request, and then sends a map of the target tunnel to the vehicle.
  • the map contains The number and position information of the K group positioning system. It should be noted that the color device and the positioning device in the same group of positioning systems share the same number and the same location information.
  • the server before the vehicle enters the target tunnel, the server detects that there is a vehicle through a camera at the entrance of the target tunnel, and the server may directly send a map of the target tunnel to the vehicle about to enter the target tunnel.
  • the positioning grating is used to detect whether there is a vehicle passing by, and the K positioning gratings are arranged in the target tunnel at intervals. This is because when the tunnel is long, setting the K positioning gratings at intervals can reduce the length of the tunnel. Divided into several sections, a precise position can be obtained when the vehicle passes through the corresponding positioning grating in each section, which helps to realize the precise positioning of the vehicle in the tunnel.
  • the vehicle receives the obtained map of the target tunnel.
  • the vehicle-mounted camera can be used to collect the first environment image in front of the vehicle when it is driving, and the first environment image contains the image of the Ki-th identification light group.
  • the camera includes a camera, and may also include one or more of a depth sensor, an RGB image sensor, or a structured light image sensor.
  • the first environment image is an RGB image.
  • the identification light group is usually installed on the ceiling of the target tunnel, so that the camera of the vehicle driving in the target tunnel can easily collect the image of the identification light group.
  • the identification light group includes at least one identification light, and the luminous color of each identification light is preset according to a color code, and the color code indicates the color and sequence of the identification light group. Because tunnels are generally relatively long and narrow, in order to realize the positioning of vehicles in the tunnel, multiple identification light groups are often set in the tunnel, and the number of identification light groups is the same as the number of positioning gratings in the tunnel, and a marking light is set near each positioning grating Group, the positioning grating corresponds to the identification light group one by one.
  • the identification light groups at different positions are often configured to display different colors or different color combinations.
  • FIG. 7A exemplarily provides a schematic diagram of a group of identification lights.
  • the group of identification lights includes 4 identification lights, and the 4 identification lights are all fixed on the same crossbar.
  • the 4 identification lights are arranged in a row from left to right and are located on the same horizontal line. It can be seen from Fig. 7A that the color of each indicator light is different.
  • FIG. 7B exemplarily provides a schematic diagram of another group of identification light groups.
  • the group of identification lights includes 4 identification lights, and the 4 identification lights are arranged in two rows and two columns. There are 2 marking lights in each row, and the colors of the 4 marking lights are different. Therefore, the identification lights in the identification light group can be arranged in order from left to right, or arranged in multiple rows.
  • the number of identification lights in the identification light group is not specifically limited in this application.
  • Fig. 8A exemplarily provides a schematic diagram of the deployment of a sign light group in a tunnel. It can be seen that a group of sign light groups is set above each lane in Fig. 8A, and each group of sign light groups contains 4 Of course, the two sets of identification lights display different color permutations and combinations (not shown in the figure).
  • the identification lights of each identification light group are arranged in the direction perpendicular to the lane, that is, the crossbar of the identification light group is perpendicular to the lane line on the ground, and the direction is perpendicular to the speed of the vehicle. This setting can effectively reduce the optical flow phenomenon. Interference, thereby reducing the interference to the color recognition of the identification light group.
  • the identification lights of the identification light group can also be arranged in multiple rows, and the deployment mode of the identification lights in the tunnel can be seen in FIG. 8B.
  • FIG. 9 exemplarily provides a schematic diagram of positioning of a vehicle in a tunnel
  • FIG. 9 only exemplarily shows a set of corresponding identification light groups and positioning gratings.
  • the Ki-th identification light group and the Ki-th positioning grating are at the same position and different heights
  • Figure 9 is a schematic diagram showing the positioning of the vehicle from a side view. It can be seen that the Ki-th identification The light group and the Ki-th positioning grating are located on the same straight line perpendicular to the ground.
  • the identification light group is installed on the ceiling of the tunnel, the positioning grating is installed on the side wall of the tunnel, and a vehicle-mounted camera is installed on the vehicle to photograph the Ki-th identification light group ahead of driving.
  • the positioning grating may also be installed in front of or behind the corresponding identification light group.
  • the positioning grating emits laser or infrared rays to the opposite wall.
  • the positioning grating can also be installed on the ceiling of the tunnel, and the positioning grating emits laser or infrared rays down the wall.
  • the vehicle recognizes the Ki-th identification light group according to the first environment image, and determines the first distance between the vehicle and the Ki-th positioning grating.
  • the vehicle after the vehicle obtains the first environmental image containing the Ki-th identification light group, on the one hand, the vehicle needs to recognize and analyze the color of the Ki-th identification light group in the first environment image through an image processing algorithm, and calculate The second distance between the vehicle and the Ki-th indicator light group (as shown in Figure 9); on the other hand, the vehicle obtains the ground height of the Ki-th indicator light group from the map, according to the ground height of the Ki-th indicator light group and The second distance from the vehicle to the Ki-th identification light group, and the first distance from the vehicle to the Ki-th positioning grating is obtained (as shown in Fig. 9).
  • the second distance refers to the spatial distance between the vehicle where the camera is located and the Ki-th identification light group
  • the first distance refers to the distance between the vehicle where the camera is located and the Ki-th positioning grating.
  • the first distance is The distance between the vehicle where the camera is located and the vertical plane, which is the plane perpendicular to the driving direction of the vehicle where the Ki-th positioning grating is located.
  • the vehicle can obtain the distance between the vehicle and the Ki-th indicator light group in the following way: the vehicle analyzes the color of the Ki-th indicator light group to obtain the analysis result, which indicates the Ki-th indicator light group Color and sequence. Since the colors of the identification light groups at different positions are different, the vehicle can match the analysis result with the color codes of multiple identification light groups in the map to identify the Ki-th identification light group; After the vehicle recognizes the Ki-th marking light group, it can obtain the pixel position of the Ki-th marking light group in the first environment image and the size of the Ki-th marking light group in the first environment image, combined with the map The actual size information of the Ki-th identification light group in the middle can determine the distance between the vehicle and the Ki-th identification light group.
  • the ground height of the Ki-th marking light group can be obtained from the map.
  • the Ki-th marking light group is based on the ground height of the Ki-th marking light group and the distance from the vehicle. And the ground height of the camera on the vehicle is known. According to the Pythagorean theorem, the first distance from the vehicle to the Ki-th positioning grating can be obtained.
  • the vehicle after the vehicle obtains the second distance from the Ki-th indicator light group, it can also combine the pitch angle of the Ki-th indicator light group with the camera on the vehicle to obtain the Ki-th indicator light group from the vehicle. Position the first distance of the grating.
  • the Ki-th positioning grating and the Ki-th identification light group in the Ki-th positioning system are located at different heights at similar positions, and the two can be installed one after the other.
  • FIG. 10A from the perspective of the forward direction of the vehicle, the Ki-th identification light group and the Ki-th positioning grating are installed in a semi-enclosed space one after the other, and the first distance is shown in FIG. 10A
  • Figure 10B from the perspective of the forward direction of the vehicle, the Ki-th identification light group and the Ki-th positioning grating are installed in a semi-enclosed space one after the other, and the first distance is shown in Figure 10B.
  • the positioning grating and the marking light group in the same group of positioning system are located at different heights at similar positions, after the vehicle obtains the second distance between the vehicle and the Ki-th marking light group, it also needs to be based on the vehicle camera and the Ki-th marking light group.
  • the vertical height difference between that can be obtained from the ground height of the on-board camera and the height of the Ki-th marking light group
  • the distance difference between the Ki-th marking light group and the Ki-th positioning grating in the direction of the vehicle calculate the first distance .
  • the identification of the identification light group can also be achieved by first determining its position and then performing color analysis. Since the marking light group is usually set above the lane, the imaging position of the marking light group in the first environment image has a certain area. If traditional image processing algorithms are used, the area of interest where the marking light group is located can be obtained by cropping (Or called the target area), if the identification light groups in the identification light group are arranged in order from left to right, the outline of the identification light group is a rectangle, and the recognition sense is recognized by the contour extraction algorithm (for example, canny operator, sift operator, etc.) The contour of each connected domain in the region of interest, when the aspect ratio of the contour meets the preset condition, the corresponding identification light group can be identified, so that the four vertices of the rectangular outline of the identification light group can be determined in the first environment image.
  • the contour extraction algorithm for example, canny operator, sift operator, etc.
  • the pixel position, and the pixel positions of the four vertices are averaged to be the pixel position of the Ki-th identification lamp group.
  • various target detection algorithms in the field of machine vision for example, yolo, faster-rcnn, etc.
  • the target detection algorithm has been very mature and widely used in the field of computer vision, and will not be repeated in this application.
  • the identification lamp groups at different positions are usually shown in different colors or color combinations as much as possible, and the color difference of two or more adjacent identification lamp groups is different. obvious.
  • the RGB color space is a color standard in the industry, and various colors are obtained by superimposing the three color channels of red (Red), green (Green) and blue (Blue) to different degrees.
  • RGB represents the colors of the red, green, and blue channels, and the value range of each channel is [0,255], "0" means no stimulus, and "255” means the stimulus reaches the maximum value, for example: when R, When G and B are all 0, three-channel synthesis means black; when R, G, and B are all 255, three-channel synthesis is white light. Therefore, taking an indicator light in the indicator light group as an example, the color code of a single indicator light can be expressed as (r, g, b), and r, g, b represent the stimulus value of the three channels of red, green, and blue respectively. . Since the RGB color space has three channels, assuming that each channel only takes 0 or 255, there are 8 light color choices for a single sign lamp. In practical applications, each channel can take any value from 0 to 255, and the light-emitting color of the indicator light can be selected in a wider range.
  • the so-called analysis of the color of the identification lamp group by the vehicle refers to obtaining the values (r, g, b) of the three channels of each identification lamp in the identification lamp group, (r, g, b) is also called the color coding of the identification light.
  • the analysis result obtained by the vehicle indicates the number of identification lights in the Ki-th identification light group, the order of the colors, and the color of each identification light.
  • HSV color mode can also be used, where H represents chroma (Hue), S represents saturation (Saturation), and V represents lightness (Value); HSL color mode can also be used, where H Represents chroma (Hue), S represents saturation (Saturation), and L represents brightness (Lightness).
  • HSV color mode and HSL color mode you only need to convert the first environment image from RGB space to HSV space or HSL space, and then obtain the value of each channel in turn.
  • the luminous color of the sign lamp is often set to a color other than the color of the signal lamp such as red, green, and yellow.
  • the target tunnel since the target tunnel is relatively long and narrow, in a straight target tunnel, there may be two or more identification light groups in the first environment image collected by the vehicle. Significantly different, so the size of the identification light group at different positions displayed in the first environment image is also different.
  • the image processing algorithm can be used to segment the identification light group closest to the vehicle, and further, the segmented identification light Color analysis of group colors.
  • the colors or color permutations and combinations of the K identification lamp groups in the tunnel are as different as possible.
  • the distance between the identification light groups is relatively large. Let’s take the example of K (K greater than 2) indicator light groups where two indicator light groups have the same color arrangement and combination. These two indicator light groups have the same color arrangement sequence, and these two indicator light groups are set in the tunnel. When the vehicle obtains the analysis result of one of the identification light groups, it matches it with the identification light groups in the map.
  • the analysis result corresponds to 2 identification light groups.
  • the vehicle can be based on Your own motion information (such as acceleration, speed, etc.) and your initial position before entering the tunnel combined with the inertial navigation system to determine the current distance of the vehicle from the entrance of the tunnel, combined with the distance of each indicator light group contained in the map from the entrance of the tunnel, it can be determined Identify the identification light group by itself, and mark the identification light group in the map. If the vehicle obtains the same analysis result again in the current tunnel, it can be determined that the corresponding identification light group is the two identification light groups The unmarked one.
  • Your own motion information such as acceleration, speed, etc.
  • S305 Determine whether the vehicle is within a preset range of the Ki-th positioning grating according to the first distance.
  • the first distance is compared with the preset threshold.
  • the first distance is the distance between the vehicle and the Ki-th positioning grating.
  • the vehicle is located at the Ki-th positioning grating.
  • the preset threshold value may be 1 meter, 1.5 meters, 2.5 meters, 3 meters or other values, which are not specifically limited in this application.
  • the preset threshold may be fixed. In some possible embodiments, due to the presence of a curve in a semi-enclosed space, the preset thresholds corresponding to individual positioning gratings are different. In this case, after the vehicle recognizes the Ki-th identification light group, it can determine the corresponding preset threshold of the positioning grating, and then determine the size of the first distance and the preset threshold to determine whether the vehicle is in the Ki-th Within the preset range of a positioning grating.
  • the Ki-th positioning grating When a vehicle triggers the Ki-th positioning grating, the Ki-th positioning grating sends out the first broadcast information. For details of this step, reference may be made to the related description of S203 in the embodiment of FIG. 5, which will not be repeated here. It should be noted that the Ki-th positioning grating is the positioning system in S203.
  • the vehicle receives the first broadcast information, and when the vehicle is within the preset range of the Ki-th positioning grating, obtains the position information of the Ki-th positioning grating in the map, and locates the vehicle on the map according to the position information.
  • the position information of the Ki-th positioning grating in the map For details of this step, reference may be made to the related description of S204 in the embodiment of FIG. 5, which will not be repeated here.
  • S308 Before the vehicle triggers the next positioning grating, the vehicle's motion information is acquired, and the vehicle is navigated on the map according to the vehicle's position information and motion information. For details of this step, reference may be made to the related description of S205 in the embodiment of FIG. 5, which will not be repeated here.
  • positioning gratings and identification light groups are set in the tunnel to assist vehicles in realizing precise positioning in the tunnel.
  • Vehicles are identified based on the color and sequence of the identification light groups.
  • the identification light groups at different positions in the tunnel determine the position relationship between the vehicle and the positioning grating corresponding to the identification light group.
  • Combining the trigger information from the positioning grating can realize the precise positioning of the vehicle in the tunnel, which effectively solves the problem of satellite positioning.
  • the problem of inaccurate or inaccurate positioning of vehicles in tunnels and underground scenes where the signal is blocked or shielded improves the robustness of vehicle positioning in semi-enclosed spaces with poor signals and saves the construction cost of vehicle positioning.
  • vehicle A and vehicle B are driving in a tunnel. Both vehicles A and B are equipped with a camera. Both vehicle A and vehicle B have passed the first positioning grating and are close to the second positioning grating. In the process, vehicle A uses its own camera A to capture the image of the second identification light group in the tunnel, and processes the captured images to determine whether the first distance between itself and the second positioning grating is less than or equal to the preset threshold. When the first distance is less than or equal to the preset threshold, it indicates that the vehicle triggers the second positioning grating. Vehicle B also performs the same actions as vehicle A. Therefore, in Figure 11, for vehicle A, the distance between vehicle A and the second positioning grating is just the preset threshold.
  • the second positioning grating is obtained from the map.
  • the position coordinates (B2, L2, H2) of the positioning gratings under the WGS84 coordinates are updated to their current position coordinates and displayed on the vehicle's display screen.
  • the distance between vehicle B and the second positioning grating is greater than the preset threshold, so vehicle B does not detect that it triggers the second positioning grating, so the position coordinates displayed on the display of vehicle B are (B, L, H), has not been updated to the position coordinates of the second positioning grating.
  • the marking lights installed in a semi-enclosed space come from different manufacturers, even if different marking lights are controlled to emit the same color light, it may cause the camera on the vehicle to resolve three different marking lights.
  • the channel values are inconsistent.
  • the lights in the semi-enclosed space may interfere with the color of the identification light
  • the image is decoded in color, and the analysis result is stored in the server as a reference. It is also the source of the color code for identifying the lamp group in the semi-enclosed space map.
  • FIG. 12 is a flowchart of a method for detecting a failure of an indicator lamp provided by an embodiment of the present application. The method includes, but is not limited to, the following steps:
  • S401 The vehicle reports the analysis result of the color of the identification lamp group to the server.
  • the vehicle's image acquisition device After the vehicle's image acquisition device recognizes a certain identification light group in the semi-enclosed space, it decodes the color of the identification light group to obtain the analysis result, and determines the location information of the nearest positioning device on the map according to its real-time location. Since the identification light group corresponds to the positioning device one-to-one, the number corresponding to the identification light group is determined. Then, the vehicle can send the analysis result of the identification light group and its corresponding number to the server.
  • S402 The server compares the analysis result with the data in the database, and judges whether the analysis result is within the range.
  • the server After the server receives the analysis result reported by the vehicle and the number of the identification light group corresponding to the analysis result, it finds the reference data of the identification light group in the database according to the number of the identification light group, and obtains the allowable range based on the reference data , And determine whether the analysis result is within the range. If the analysis result is within the range, it means that the identification lamp group can continue to be used, and the failure detection process of the identification lamp ends; if the analysis result is not within the range, execute S303.
  • the three-channel reference value stored in the map for a certain indicator light is (247,9,13), the corresponding standard color is red, and the allowable range is (225 ⁇ 255,0 ⁇ 30,0 ⁇ 30 ), if the analysis result is (220,10,20), the analysis result is not within the range; if the analysis result is (240,10,20), the analysis result is within the range.
  • the server can also remind relevant personnel to prevent the indicator light failure in advance.
  • the server will remind the user that the identification light group needs to be replaced, and at the same time calculate the color code of the replaced identification light group, and replace it
  • the data of the original identification lamp group in the database has completed the update of the database. It should be noted that if only one indicator lamp of the indicator lamp group is aging, only this one indicator lamp needs to be replaced and the data of the corresponding indicator lamp can be updated in the database.
  • the problem of identification lamp failure detection can also be solved by arranging regular inspections of construction vehicles.
  • the engineering vehicle is arranged to photograph, identify and decode each group of identification light groups at regular intervals, and compare the analysis results with the corresponding data in the database to determine whether the color error is within the specified range, if not, replace the identification A light group or an identification light in an identification light group.
  • a vehicle positioning method provided by an embodiment of the present application, in which a tunnel may be used as an example in a semi-enclosed space, and a color device may be used to identify light groups
  • the positioning device may take the positioning grating as an example to illustrate the solution.
  • the embodiment of the present application does not limit the semi-enclosed space to be only a tunnel, the color device is only an identification light group, or the positioning device is only a positioning grating. It should be noted that in the embodiment of FIG.
  • K groups of positioning systems are set in the tunnel, and each group of positioning systems includes a positioning grating and a camera, that is, there are K positioning gratings and K cameras, and K is an integer greater than 1.
  • the identification light group is located on the vehicle.
  • the embodiment in FIG. 13 may be independent of the embodiments in FIG. 4, FIG. 5, and FIG. 6, or may be a supplement to the embodiments in FIG. 4, FIG. 5, and FIG.
  • the method includes but is not limited to the following steps:
  • S501 Before the vehicle enters the target tunnel, the vehicle obtains a map of the target tunnel. For details of this step, reference may be made to the relevant descriptions of S201-S202 in the embodiment of FIG. 4, which will not be repeated here.
  • one identification light group is installed on the vehicle (for example, the top of the vehicle), the identification light group includes at least one identification light, and each identification light can emit colored visible light.
  • the color code indicates the color and sequence of the identification light group of the vehicle.
  • the color code may be obtained by the vehicle from the server, that is, the vehicle may send a second request to the server, and the server allocates a color code to the vehicle according to the received second request, so that the vehicle Before entering the target tunnel, configure the luminous color of the vehicle's identification light group according to the color code.
  • the color codes obtained by different vehicles are different, so that the colors or the order of the colors presented by the identification lamp groups on different vehicles are different. In other words, the color codes obtained by each vehicle are unique.
  • the vehicle does not need to request the server to assign a color code
  • the color code of the vehicle's identification light group can also be preset when the vehicle leaves the factory, and the color code of each vehicle is unique.
  • the vehicle can set the luminous color of each indicator light in the indicator light group according to the color code.
  • the so-called color coding refers to the mixing ratio (r, g, b) of the three primary colors of red (R), green (G), and blue (B) in the RGB color space of the light source, which identifies each of the lamp groups
  • the identification lights have their corresponding color codes, and the vehicle sets the mixing ratio of the three primary colors in the identification lights through the color coding to obtain the preset luminous color. For example, if the color code of a certain indicator light is (255,0,0), it means that the green component and the blue component are both 0, and the red component reaches the maximum value. After the color code is set, the indicator light will display Red light.
  • the server receives the second environment image sent by the Ki-th camera, the second environment image includes the image of the identification light group on the vehicle, that is, after the vehicle enters the target tunnel, the camera in the target tunnel will collect The image of the vehicle driving under the current view, and the collected image is sent to the server for processing.
  • the second environment image is generally an RGB color image or a visible light image.
  • Fig. 14A exemplarily provides a schematic diagram of the positioning of a vehicle in a tunnel, and Fig. 14A only exemplarily shows a set of corresponding cameras and positioning gratings.
  • the Ki-th camera and the Ki-th positioning grating are at different heights at the same position, that is, from the side view shown in Figure 14A, the Ki-th positioning
  • the grating and the Ki-th camera are located on the same straight line perpendicular to the ground.
  • the camera is installed on the ceiling of the tunnel, and the positioning grating is installed on the side wall of the tunnel.
  • the camera is used to collect images containing the identification lights on the vehicle.
  • the positioning grating can also be installed in front of or behind the corresponding camera, but the difference between the positions of the two should be as small as possible.
  • S504 The server recognizes the identification light group of the vehicle according to the second environment image, and determines the third distance between the vehicle and the Ki-th positioning grating.
  • the server needs to first recognize and analyze the color of the identification light group on the vehicle in the second environmental image through the image processing algorithm, and according to the recognition Calculate the fourth distance from the Ki-th camera to the vehicle where the identification light group is located (as shown in Figure 14A); on the other hand, the server combines the ground height and the fourth distance of the Ki-th camera to obtain The third distance from the vehicle to the Ki-th positioning grating (see Figure 14A).
  • the fourth distance refers to the spatial distance between the vehicle where the identification light group is located and the Ki-th camera
  • the third distance refers to the distance between the vehicle where the identification light group is located and the Ki-th positioning grating.
  • the third The distance is the distance from the vertical plane of the vehicle where the identification light group is located, and the vertical plane is the plane perpendicular to the driving direction of the vehicle where the Ki-th positioning grating is located.
  • the server can obtain the distance between the vehicle and the Ki-th camera by using an image processing algorithm or a target detection algorithm to identify the indicator light based on the shape of the vehicle’s indicator light group (for example, rectangle or ellipse, etc.)
  • the analysis result is the color code corresponding to the identification light group by analyzing the color of the identified identification light group, and the analysis result indicates the color and arrangement order of the identification light group of the vehicle; server identification After the identification lamp group of the vehicle is obtained, the pixel position of the identification lamp group in the second environment image and the size of the identification lamp group in the second environment image can be obtained, combined with the actual size information of the identification lamp group, then Determine the distance between the identification light group and the Ki-th camera, and this distance is also approximately equal to the fourth distance between the vehicle where the identification light group is located and the Ki-th camera.
  • the vehicle After determining the fourth distance between the vehicle and the Ki-th camera, combining the ground height of the Ki-th camera (pre-stored in the server) and the ground height of the vehicle's identification light group, the vehicle can be calculated according to the Pythagorean theorem The third distance from the Ki-th positioning grating.
  • the server may also combine the pitch angle of the Ki-th camera when shooting the identification light group to obtain the Ki-th vehicle distance.
  • the third distance of the positioning grating may also combine the pitch angle of the Ki-th camera when shooting the identification light group to obtain the Ki-th vehicle distance.
  • the Ki-th positioning grating and the Ki-th camera are located at different heights at similar positions, that is, the two can be installed one after the other. Take Figure 14B as an example, as shown in Figure 14B. In this case, the Ki-th camera is closer to the vehicle equipped with the identification light group than the Ki-th positioning grating.
  • the Ki-th positioning grating and the Ki-th camera are no longer Located on the same straight line perpendicular to the ground, when the server calculates the third distance between the vehicle in which the identification light group is located and the Ki-th positioning grating, in addition to the fourth distance shown in Figure 14B, the identification light group and the Ki-th
  • the server calculates the third distance between the vehicle in which the identification light group is located and the Ki-th positioning grating, in addition to the fourth distance shown in Figure 14B, the identification light group and the Ki-th
  • the vertical height difference between the cameras that can be obtained from the ground clearance of the marking light group and the height of the Ki-th marking light group
  • the way to obtain the ground clearance of the vehicle's identification light group can be as follows: if the color code of the vehicle's identification light group is assigned by the server, then the second request sent by the vehicle to the server also carries There is the ground clearance of the identification light group on the vehicle; if the color code of the identification light group of the vehicle is preset when the vehicle leaves the factory, the vehicle needs to send the first information to the server before entering the tunnel.
  • the first information includes The color code of the identification light group of the vehicle and the ground height of the identification light group on the vehicle, and the first information is used to instruct the server to establish a mapping relationship table between the color code and the corresponding ground height.
  • the server After the server obtains the analysis result of the color of the identification light group of the vehicle according to the second environment image, it can search the color code-ground height mapping table according to the analysis result to obtain the ground height of the corresponding identification light group. It should be noted that if the color code of the identification light group of the vehicle is preset when the vehicle leaves the factory, and the camera can directly process the collected second environment image (for example, identify the identification light group, calculate the third distance, etc. ), the vehicle can also directly send the first information to the camera before entering the tunnel.
  • the analysis result obtained by analyzing the color of the identified identification lamp group can be characterized by the value of the R, G, and B three channels of each color in the identification lamp group in the RGB color space, or each color in the HSV color space
  • the value of each color channel in the HSL color space or other color spaces is not limited in this application.
  • the color space corresponding to the analysis result needs to be consistent with the color space corresponding to the color code of the vehicle's identification light group.
  • S505 The server judges whether the vehicle is within the preset range of the Ki-th positioning grating according to the third distance.
  • the server after obtaining the third distance of the vehicle from the Ki-th positioning grating, the server compares the third distance with a preset threshold. When the third distance is less than or equal to the preset threshold, the server can determine the vehicle It is located within the preset range of the Ki-th positioning grating; when the third distance is greater than the preset threshold, the server may determine that the vehicle is not located within the preset range of the Ki-th positioning grating.
  • the preset threshold value may be 1 meter, 1.5 meters, 2.5 meters, 3 meters or other values, which are not specifically limited in this application.
  • the server determines that a vehicle is within the preset range of the Ki-th positioning grating, the server also needs to record the analysis result of the color of the vehicle's identification light group.
  • the analysis result indicates the color and the color of each identification light in the identification light group. order.
  • S503-S505 are exemplary descriptions of a method for the server to monitor whether the vehicle is within the preset range of the Ki-th positioning grating.
  • cameras in each area of the tunnel may directly monitor whether the vehicle is located within the preset range of its corresponding positioning grating without the participation of the server.
  • the third distance is less than or equal to the preset range, it means that the vehicle is within the preset range of the Ki-th positioning grating, and at the same time record the marking lights on the vehicle.
  • This analysis result indicates the color and order of the identification light group on the vehicle.
  • the server or the camera processes the second environment image
  • multiple vehicles may drive side by side. After the second environment image is processed, it is found that there are vehicles on multiple lanes located within the preset range of the Ki-th positioning grating at the same time, then the colors of the identification light groups of these vehicles are sequentially analyzed and the multiple analysis results obtained are recorded.
  • the server when the server determines that the vehicle is located within the preset range of the Ki-th positioning grating, the server sends out second broadcast information.
  • the second broadcast information carries instruction information, and the instruction information indicates one or more identifiers.
  • the color and sequence of the lights Since one identification light group includes at least one identification light, the indication information is also equivalent to indicating the color and sequence of the identification light group on the vehicle.
  • the second broadcast information is used to instruct the vehicle to determine whether it is within the preset range of the Ki-th positioning grating according to the second broadcast information.
  • the Ki-th camera can directly send out the second broadcast information.
  • the second broadcast information indicates the color and sequence of the identification light group on the vehicle, so that the vehicle can judge whether it is in the Ki-th according to the second broadcast information.
  • the second broadcast information carries The indication information of indicates the color and sequence of at least one identification light group, which are the identification light groups of multiple vehicles located within the preset range of the Ki-th positioning grating.
  • the vehicle receives the second broadcast information, and determines whether it is within a preset range of the Ki-th positioning grating according to the second broadcast information.
  • the vehicle determines whether it is within the preset range of the Ki-th positioning grating according to the second broadcast information. Specifically, the vehicle matches the identification light group on its own vehicle according to the color and sequence of the identification lights in the identification light group indicated in the second broadcast information, that is, compares the color code carried in the second broadcast information with that of the vehicle's own identification light group.
  • the matching is successful, indicating that the vehicle is or belongs to the vehicle where the identification light group indicated by the second broadcast information is located, that is, the vehicle is currently within the preset range of the Ki-th positioning grating; if not If they are the same, the matching fails, indicating that the vehicle is not currently located within the preset range of the Ki-th positioning grating.
  • S508 When the Ki-th positioning grating is triggered, the Ki-th positioning grating sends out the first broadcast information. For details of this step, reference may be made to the related description of S103 in the embodiment of FIG. 3, which will not be repeated here. It should be noted that the Ki-th positioning grating is the positioning system in S103.
  • the vehicle receives the first broadcast information, and when the vehicle is within the preset range of the Ki-th positioning grating, obtains the position information of the Ki-th positioning grating in the map, and locates the vehicle on the map according to the position information.
  • the position information of the Ki-th positioning grating in the map For details of this step, reference may be made to the related description of S204 in the embodiment of FIG. 5, which will not be repeated here.
  • S510 Before the vehicle triggers the next positioning grating, the vehicle's motion information is acquired, and the vehicle is navigated on the map according to the vehicle's position information and the motion information. For details of this step, reference may be made to the related description of S205 in the embodiment of FIG. 5, which will not be repeated here.
  • positioning gratings and cameras are set in the tunnel to assist the vehicle to achieve precise positioning in the tunnel.
  • the camera determines the vehicle and the The positional relationship of the positioning grating corresponding to the identification light group, combined with the trigger information from the positioning grating, can realize the precise positioning of the vehicle in the tunnel, which effectively solves the problem that the vehicle cannot be in the tunnel or underground where the satellite signal is blocked or shielded.
  • the problem of positioning or inaccurate positioning improves the robustness of vehicle positioning and reduces the construction cost of vehicle positioning in a semi-enclosed space with poor signal.
  • Vehicle A and Vehicle B are driving in a tunnel. Both Vehicle A and Vehicle B are equipped with an identification light group. The color and sequence of identification light group A are different from the color and sequence of identification light group B. Vehicle A and Vehicle B has passed the first positioning grating and is approaching the second positioning grating. The second camera in the tunnel collects the image of the identification lamp group on the vehicle at this angle of view, and sends the collected image of the identification lamp group to the server. The server processes the received image and monitors that the distance from vehicle A is the second The distance of the two positioning gratings is equal to the preset threshold, which means that the vehicle A is currently located within the preset range of the second positioning grating.
  • the server sends out broadcast information indicating the identification light group A and the camera number 2.
  • vehicle A After receiving the broadcast information, vehicle A matches the identification light group indicated in the broadcast information with its own identification light group A. If the matching is successful, then vehicle A can determine that it is in the preset position of the second positioning grating. Set within the range, so vehicle A obtains the position coordinates (B2, L2, H2) of the second positioning grating in the WGS84 coordinate system on the map and updates it to its current position coordinates, and displays it on the vehicle's display screen.
  • vehicle B after receiving the broadcast information, vehicle B matches the identification light group indicated in the broadcast information with its own identification light group B. The matching fails. Therefore, vehicle B can determine that it is not located in the second positioning grating. Within the preset range, therefore, the position coordinates displayed on the display screen of the vehicle B are (B, L, H), which has not been updated to the position coordinates of the second positioning grating.
  • Vehicle A and Vehicle B are driving in a tunnel. Both Vehicle A and Vehicle B are equipped with an identification light group. The color and sequence of the identification light group A are different from the color and sequence of the identification light group B. Vehicle A and Vehicle B has passed the first positioning grating and is approaching the second positioning grating. The second camera in the tunnel collects the image of the identification light group on the vehicle at this angle of view, and processes the collected image of the identification light group, and monitors that the vehicle A where the identification light group A is located is away from the second positioning grating. The distance is equal to the preset threshold, which means that vehicle A is currently within the preset range of the second positioning grating. Therefore, the second camera sends out broadcast information indicating the identification light group A and camera number 2.
  • vehicle A After receiving the broadcast information, vehicle A matches the identification light group indicated in the broadcast information with its own identification light group A. If the matching is successful, then vehicle A can determine that it is in the preset position of the second positioning grating. Set the range, so vehicle A obtains the position coordinates (B2, L2, H2) of the second positioning grating in the WGS84 coordinate system on the map and updates it to its current position coordinates and displays it on the vehicle's display screen.
  • vehicle B after receiving the broadcast information, vehicle B matches the identification light group indicated in the broadcast information with its own identification light group B. The matching fails. Therefore, vehicle B can determine that it is not located in the second positioning grating. Within the preset range, therefore, the position coordinates displayed on the display screen of the vehicle B are (B, L, H), which has not been updated to the position coordinates of the second positioning grating.
  • the device 30 at least includes a processor 110, a memory 111, a receiver 112, a transmitter 113, an image acquisition device 114, and an inertial measurement element 115.
  • the receiver 112 and the transmitter 113 can also be replaced with communication interfaces for providing information input and/or output for the processor 110.
  • the memory 111, the receiver 112, the transmitter 113, the image acquisition device 114, the inertial measurement element 115, and the processor 110 are connected or coupled via a bus.
  • the device 30 may be the vehicle in FIG. 1.
  • the receiver 112 is used to receive a map of a semi-enclosed space (for example, a tunnel) from the server/roadside unit/other vehicles, and the receiver 112 is also used to receive the first broadcast information sent when the positioning system (ie, positioning raster) is triggered .
  • the transmitter 113 is configured to send a first request to the server to obtain a map of the semi-enclosed space.
  • the receiver 112 and the transmitter 113 may include antennas and chipsets for communicating with devices, sensors, or other physical devices in the vehicle directly or through an air interface.
  • the transmitter 113 and the transceiver 112 constitute a communication module.
  • the communication module can be configured to receive and send information according to one or more other types of wireless communication (for example, protocols), such as Bluetooth, IEEE 802.11 communication protocols, Cellular technology, Worldwide Interoperability for Microwave Access (WiMAX) or LTE (Long Term Evolution), ZigBee protocol, Dedicated Short Range Communications (DSRC), and RFID (Radio Frequency Identification, radio frequency) Identification) communication, etc.
  • protocols such as Bluetooth, IEEE 802.11 communication protocols, Cellular technology, Worldwide Interoperability for Microwave Access (WiMAX) or LTE (Long Term Evolution), ZigBee protocol, Dedicated Short Range Communications (DSRC), and RFID (Radio Frequency Identification, radio frequency) Identification) communication, etc.
  • the image acquisition device 114 is used to capture a first environment image in front of the vehicle, and the first environment image includes an image of a color device in a semi-enclosed space.
  • the image acquisition device 114 includes a camera, and may also include one or more of a depth sensor, an RGB image sensor, or a structured light image sensor.
  • the image acquisition device 114 may be a video camera, a camera, or other devices with an image acquisition function.
  • the inertial measurement element 115 is used to obtain movement information of the vehicle, for example, the speed, acceleration, and movement direction of the vehicle, so that the processor 110 can navigate according to the information obtained by the inertial measurement element 115.
  • the inertial measurement element 115 includes an accelerometer and a gyroscope, where the accelerometer is used to measure the current acceleration of the vehicle, and the gyroscope is used to detect the direction and speed of the vehicle's movement.
  • the specific implementation of each operation performed by the processor 110 may refer to specific operations such as identifying the color device in the first environment image, calculating the first distance of the vehicle distance positioning system, and positioning the vehicle in the foregoing method embodiment.
  • the processor 110 may be composed of one or more general-purpose processors, such as a central processing unit (CPU), or a combination of a CPU and a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (Programmable Logic Device, PLD), or a combination thereof.
  • the above-mentioned PLD may be a complex programmable logic device (Complex Programmable Logic Device, CPLD), a field programmable logic gate array (Field-Programmable Gate Array, FPGA), a general array logic (Generic Array Logic, GAL), or any combination thereof.
  • CPLD Complex Programmable Logic Device
  • FPGA Field-Programmable Gate Array
  • GAL General array logic
  • the memory 111 may include a volatile memory (Volatile Memory), such as a random access memory (Random Access Memory, RAM); the memory 111 may also include a non-volatile memory (Non-Volatile Memory), such as a read-only memory (Read-only memory). Only Memory, ROM, Flash Memory, Hard Disk Drive (HDD), or Solid-State Drive (SSD); the memory 111 may also include a combination of the above types.
  • the memory 111 can store programs and data.
  • the stored programs include target recognition programs, color analysis programs, inertial navigation programs, etc., and the stored data includes: semi-enclosed space maps, color devices (for example, identification light groups) analysis Results, vehicle movement information, etc.
  • the memory 111 may exist alone or may be integrated inside the processor 110.
  • the device 30 is used to implement the method on the vehicle side described in the embodiment in FIG. 4.
  • FIG. 18 is a schematic structural diagram of another device provided by an embodiment of the present application.
  • the device 40 at least includes a processor 210, a memory 211, a receiver 212, a transmitter 213, a color device 214, and an inertial measurement element 215.
  • the receiver 212 and the transmitter 213 can also be replaced with communication interfaces for providing information input and/or output for the processor 210.
  • the memory 211, the receiver 212, the transmitter 213, the inertial measurement element 215, and the processor 210 are connected or coupled via a bus.
  • the device 40 may be the vehicle in FIGS. 2 and 3.
  • the transmitter 213 is used to send a first request to the server to obtain a map of the semi-enclosed space.
  • the transmitter 214 is also used to send first information to the server.
  • the first information carries the color of the device 40.
  • the receiver 212 is used for receiving the map of the semi-enclosed space sent by the server, and the receiver 212 is also used for receiving the second broadcast information and the first broadcast information from the positioning system (eg, positioning raster).
  • the receiver 212 may also receive a semi-enclosed space map sent from other vehicles or roadside units.
  • the receiver 212 and the transmitter 213 may include antennas and chipsets for communicating with devices, sensors, or other physical devices in the vehicle directly or through an air interface.
  • the transmitter 213 and the transceiver 212 constitute a communication module, and the communication module can be configured to receive and send information according to one or more other types of wireless communication (for example, protocols), such as Bluetooth, IEEE 802.11 communication protocols, Cellular technology, Worldwide Interoperability for Microwave Access (WiMAX) or LTE (Long Term Evolution), ZigBee protocol, Dedicated Short Range Communications (DSRC), and RFID (Radio Frequency Identification, radio frequency) Identification) communication, etc.
  • protocols for example, protocols
  • the color device 214 is used for shooting by an image acquisition device (for example, a camera) in a semi-enclosed space to obtain an image of the color device 214 on the vehicle.
  • the color device 214 may be one or more identification lights or other colored light-emitting devices, and may also be a colored metal plate or other colored devices.
  • the inertial measurement element 215 is used to obtain movement information of the vehicle, for example, the speed, acceleration, and movement direction of the vehicle, so that the processor 210 can navigate according to the information obtained by the inertial measurement element 215.
  • the inertial measurement element 215 includes an accelerometer and a gyroscope, where the accelerometer is used to measure the current acceleration of the vehicle, and the gyroscope is used to detect the direction and speed of the vehicle's movement.
  • the specific implementation of each operation performed by the processor 210 may refer to specific operations such as determining whether it is within the preset range of the positioning grating according to the second broadcast information in the foregoing method embodiment, positioning the vehicle, and navigating the vehicle.
  • the processor 210 may be composed of one or more general-purpose processors, such as a central processing unit (CPU), or a combination of a CPU and a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (Programmable Logic Device, PLD), or a combination thereof.
  • the above-mentioned PLD may be a complex programmable logic device (Complex Programmable Logic Device, CPLD), a field programmable logic gate array (Field-Programmable Gate Array, FPGA), a general array logic (Generic Array Logic, GAL), or any combination thereof.
  • CPLD Complex Programmable Logic Device
  • FPGA Field-Programmable Gate Array
  • GAL General array logic
  • the memory 211 may include a volatile memory (Volatile Memory), such as a random access memory (Random Access Memory, RAM); the memory 211 may also include a non-volatile memory (Non-Volatile Memory), such as a read-only memory (Read-only memory). Only Memory, ROM, Flash Memory, Hard Disk Drive (HDD), or Solid-State Drive (SSD); the memory 211 may also include a combination of the above types.
  • the memory 211 can store programs and data.
  • the stored programs include color device matching programs, inertial navigation programs, etc.
  • the stored data includes: semi-enclosed space maps, color devices (for example, identification light groups) color coding, vehicle Sports information, etc.
  • the memory 211 may exist alone or may be integrated inside the processor 210.
  • the device 40 is used to implement the method on the vehicle side described in the embodiment in FIG. 13.
  • the device 50 includes at least a processor 310, a memory 311, a receiver 312, and a transmitter 313.
  • the receiver 312 and the transmitter 313 can also be replaced It is a communication interface for providing information input and/or output for the processor 310.
  • the memory 311, the receiver 312, the transmitter 313, and the processor 310 are connected or coupled through a bus.
  • the device 50 may be the server in FIG. 2 or the camera in FIG. 3.
  • the device 50 further includes a camera 314 for collecting images of the color device 214 of the device 40, and the camera 314 is connected or coupled to the processor 310, the receiver 312, etc. through a bus .
  • the receiver 312 is also used to receive the first information sent by the device 40.
  • the first information carries the color code of the color device 214 of the device 40 and the height of the color device 214 from the ground.
  • the receiver 312 is also used to receive the captured image of the color device 214 of the device 40 sent by the camera in FIG. 2.
  • the receiver 312 is also used to receive the device 30 or the first request sent by the device 40, the first request is used to instruct the device 50 to send a map of the semi-enclosed space.
  • the receiver 312 is also used to obtain the image of the color device 214 collected by the camera 314 for processing by the processor 310.
  • the transmitter 313 is used to send second broadcast information to the device 40.
  • the instruction information carried in the second broadcast information indicates the color and sequence of the color devices on the vehicle within the preset range of the positioning grating, so that the device 40 can follow the second broadcast
  • the information determines whether it is within the preset range of the positioning system (eg, positioning grating).
  • the transmitter 313 is also used to send a map of the semi-enclosed space to the device 30 or the device 40.
  • the receiver 312 and the transmitter 313 may include antennas and chipsets for communicating with devices, sensors, or other physical devices in the vehicle directly or through an air interface.
  • the transmitter 313 and the transceiver 312 constitute a communication module, and the communication module can be configured to receive and send information according to one or more other types of wireless communication (for example, protocols), such as Bluetooth, IEEE 802.11 communication protocols, Cellular technology, Worldwide Interoperability for Microwave Access (WiMAX) or LTE (Long Term Evolution), ZigBee protocol, Dedicated Short Range Communications (DSRC), and RFID (Radio Frequency Identification, radio frequency) Identification) communication, etc.
  • protocols for example, protocols
  • the memory 311 may include a volatile memory (Volatile Memory), such as a random access memory (Random Access Memory, RAM); the memory 311 may also include a non-volatile memory (Non-Volatile Memory), such as a read-only memory (Read-only memory). Only Memory, ROM, Flash Memory, Hard Disk Drive (HDD), or Solid-State Drive (SSD); the memory 311 may also include a combination of the above types.
  • the memory 311 can store programs and data.
  • the stored programs include target recognition algorithms, color analysis programs, etc.
  • the stored data includes maps in a semi-enclosed space, color codes for color devices (for example, identification light groups), and camera
  • the memory 311 may exist alone or may be integrated inside the processor 310.
  • the processor 310 is composed of one or more general-purpose processors, such as a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), a microprocessor (Microcontroller Unit, MCU), or a CPU, GPU, Combination of MCU and hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (Programmable Logic Device, PLD), or a combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the above-mentioned PLD may be a complex programmable logic device (Complex Programmable Logic Device, CPLD), a field programmable logic gate array (Field-Programmable Gate Array, FPGA), a general array logic (Generic Array Logic, GAL), or any combination thereof.
  • the processor 310 is configured to call the programs and data in the memory 310 to realize the recognition of the color device 214 of the device 40 in the second environment image, the analysis of the color of the color device 214, and the determination of whether the device 40 is in the preset range of the positioning system in the above embodiment. Inside and other specific operations.
  • the device 50 is used to implement the server-side method described in the embodiment of FIG. 9.
  • FIG. 20 is a schematic structural diagram of a monitoring device provided by an embodiment of the present application.
  • the monitoring device 60 at least includes a processor 410, a memory 411, and a receiver 412.
  • the receiver 412 can also be replaced with a communication interface for providing information input for the processor 410.
  • the memory 411, the receiver 412, and the processor 410 are connected or coupled through a bus.
  • the monitoring device 60 can be integrated in the image acquisition device 114 or the processor 110 of the device 30, or can exist independently in the device 30, which is not specifically limited in this application.
  • the corresponding vehicle positioning scene is: an image acquisition device (for example, a camera) is set on the vehicle, a one-to-one corresponding color device and a positioning device are set in a semi-enclosed space, and the monitoring device 60 can be integrated into the image acquisition device of the vehicle , Can also be integrated in the vehicle and exist independently of the image acquisition device.
  • the monitoring device 60 may be integrated in the image acquisition device 114 of the device 30, or may be integrated in the processor 110 of the device 30, which is not specifically limited in this application.
  • the receiver 412 is used to obtain an environmental image including a color device.
  • the environmental image may be captured by the image capture device 114 of the device 30.
  • the receiver 412 may include a device for capturing images in the vehicle directly or through an air interface. Antenna and chipset for device communication.
  • the processor 410 is composed of one or more general-purpose processors and/or special-purpose processors. Specifically, the processor 410 may be one of a central processing unit, a microprocessor, a single-chip computer, a digital signal processor, an image processor, etc. Multiple.
  • the processor 410 calls the data and programs in the memory 411 to obtain the horizontal distance between the color device and the image capture device according to the environmental image and the positional relationship between the image capture device that captures the environmental image and the color device, and according to the horizontal distance It is determined whether the vehicle is located within the preset range of the positioning device in the semi-enclosed space, so that the vehicle can realize positioning according to the position information of the positioning device when it is determined that the vehicle is located within the preset range of the positioning device.
  • the memory 411 may include a volatile memory (Volatile Memory), such as a random access memory (Random Access Memory, RAM); the memory 411 may also include a non-volatile memory (Non-Volatile Memory), such as a read-only memory (Read-only memory). Only Memory, ROM, Flash Memory, Hard Disk Drive (HDD), or Solid-State Drive (SSD); the memory 411 may also include a combination of the above types.
  • the memory 411 can store programs and data.
  • the stored programs include color analysis algorithms, target detection algorithms, etc.
  • the stored data includes: color coding of color devices-ground clearance mapping information, ground clearance of image acquisition devices, color The image of the device, the analysis result of the color device, various distances (for example, the distance between the color device and the camera, the horizontal distance between the color device and the image capture device, the vertical height difference between the color device and the image capture device, etc.).
  • the memory 411 may exist alone or may be integrated inside the processor 410.
  • the monitoring device 60 further includes a transmitter 413, and the transmitter 413 may also be replaced with a communication interface for providing information output for the processor 410.
  • the transmitter 413 is connected or coupled with the memory 411, the receiver 412, and the processor 410 through a bus.
  • the monitoring device 60 can be integrated in the device 50.
  • the corresponding vehicle positioning scenario is: a color device is set on the vehicle, a corresponding image acquisition device and positioning device are set in a semi-enclosed space, and the monitoring device 60 can be integrated into an image acquisition device or a server in the semi-enclosed space.
  • the transmitter 413 is used for sending out second broadcast information when the processor 410 determines that the vehicle is within the preset range of the positioning device.
  • the second broadcast information indicates the color device on the vehicle located within the preset range of the positioning device.
  • the color and sequence of the positioning device so that when the vehicle determines that it is within the preset range of the positioning device according to the second broadcast information, it performs positioning according to the position information of the positioning device.
  • the transmitter 413 may include an antenna and chipset for communicating with devices, sensors, or other physical devices in the vehicle directly or through an air interface.
  • the receiver 412 and the transmitter 413 constitute a communication module, and the communication module can be configured to receive and send information according to one or more other types of wireless communication (for example, protocols), such as Bluetooth, IEEE 802.11 communication protocols, Cellular technology, Worldwide Interoperability for Microwave Access (WiMAX) or LTE (Long Term Evolution), ZigBee protocol, Dedicated Short Range Communications (DSRC), and RFID (Radio Frequency Identification, radio frequency) Identification) communication, etc.
  • protocols for example, protocols
  • protocols such as Bluetooth, IEEE 802.11 communication protocols, Cellular technology, Worldwide Interoperability for Microwave Access (WiMAX) or LTE (Long Term Evolution), ZigBee protocol, Dedicated Short Range Communications (DSRC), and RFID (Radio Frequency Identification, radio frequency) Identification) communication, etc.
  • the receiver 412 is used to obtain the environmental image containing the color device means that the receiver 412 receives the environmental image containing the color device sent by the image acquisition device set in a semi-enclosed space .
  • the receiver 412 may include an antenna and chipset for communicating with an image capture device in a semi-enclosed space directly or through an air interface.
  • FIG. 21 is a schematic diagram of the functional structure of a device provided by an embodiment of the present application.
  • the device 32 includes a monitoring unit 320, an obtaining unit 321, and a positioning unit 322.
  • the device 32 can be implemented by hardware, software, or a combination of software and hardware.
  • the device 32 may be the vehicle in FIG. 1 or FIG. 2.
  • the monitoring unit 320 is used to monitor whether the vehicle is within the preset range of the positioning system in the semi-enclosed space after the vehicle enters the semi-enclosed space; the acquisition unit 321 is used to monitor whether the vehicle is within the preset range of the positioning system in the semi-enclosed space Next, obtain the position information of the positioning system in the semi-enclosed space on the map; the positioning unit 322 is configured to locate the vehicle on the map according to the position information.
  • the functional modules of the device 32 can be used to implement the vehicle-side method described in the embodiment in FIG. 6, that is, the device 32 is the vehicle in FIG. 1.
  • the device 32 further includes a collection unit 323 for collecting images of the color device arranged in the semi-enclosed space.
  • the acquisition unit 321 can be used to perform S301, S302, and S306, the collection unit 323 can be used to perform S303, the monitoring unit 320 can be used to perform S304 and S305, and the positioning unit 322 can be used to perform S307 and S308.
  • the functional modules of the device 32 can also be used to implement the vehicle-side method described in the embodiment in FIG. 13, that is, the device 52 is the vehicle in FIG. 2.
  • the acquiring unit 321 can be used to perform S501 and S502
  • the monitoring unit 320 can be used to perform S507
  • the positioning unit 322 can be used to perform S509 and S510.
  • the functional modules of the device 32 can also be used to execute the method on the vehicle side in FIG. 4 and FIG.
  • FIG. 22 is a schematic diagram of the functional structure of a device provided by an embodiment of the present application.
  • the device 52 includes a monitoring unit 520, a broadcasting unit 521, and an acquiring unit 522.
  • the device 52 can be implemented by hardware, software, or a combination of software and hardware.
  • the device 52 may be the server in FIG. 2.
  • the monitoring unit 520 after the vehicle enters the semi-enclosed space, monitors whether the vehicle is within the preset range of the positioning system in the semi-enclosed space; the broadcasting unit 521 is used to monitor the situation that the vehicle is within the preset range of the positioning system Next, the second broadcast information is sent, and the second broadcast information is used to indicate that the vehicle is located within the preset range of the positioning system, so that the vehicle can locate according to the position information of the positioning system.
  • the functional modules of the device 32 can be used to implement the server-side method described in the embodiment of FIG. 13.
  • the obtaining unit 522 can be used to perform S503
  • the monitoring unit 520 can be used to perform S504 and S505.
  • 521 can be used to execute S506.
  • the device 52 may also be the camera in FIG. 3.
  • the server in FIG. 13 may be replaced by an image acquisition device (for example, a camera).
  • an image acquisition device for example, a camera
  • FIG. 23 is a schematic diagram of the functional structure of a device provided by an embodiment of the present application.
  • the device 62 includes an obtaining unit 620 and a processing unit 621.
  • the device 62 may be integrated in the camera of the vehicle in FIG. 1 or in the vehicle in FIG. 1 and exist independently of the camera.
  • the device 62 further includes a broadcasting unit 622.
  • the device 62 may be integrated into the server in FIG. 2 or the camera set in the semi-enclosed space in FIG. 3.
  • the above-mentioned camera is only an example of an image acquisition device, and the camera can also be replaced by a camera or other image acquisition device, which is not specifically limited in this application.
  • the device 62 can be implemented by hardware, software, or a combination of software and hardware.
  • the acquisition unit 620 is used to acquire the environmental image collected by the image acquisition device, and the environmental image contains the image of the color device;
  • the processing unit 621 is used to determine the distance between the color device and the image acquisition device according to the environmental image; The positional relationship between the color device and the color device and the distance between the color device and the image capture device to determine the horizontal distance between the image capture device and the color device; according to the horizontal distance between the image capture device and the color device, it is determined when the vehicle enters After the semi-enclosed space, the vehicle is located within the preset range of the positioning device in the semi-enclosed space, so that the vehicle can be positioned according to the position information of the positioning device; When the range is set, the second broadcast information is sent, so that the vehicle determines whether the vehicle is within the preset range of the positioning device according to the second broadcast information.
  • the functional modules of the device 62 can be used to implement the method on the vehicle side described in the embodiment in FIG.
  • the functional modules of the device 62 can also be used to implement the server-side method described in the embodiment of FIG. 13.
  • the obtaining unit 620 can be used to perform S503
  • the processing unit 621 can be used to perform S504 and S505.
  • Unit 622 can be used to perform S506.
  • the functional modules of the device 62 can also be used to execute S101 in FIG. 4 and S202 in FIG.
  • Storage media include read-only memory (Read-Only Memory, ROM), random access memory (RAM), programmable read-only memory (Programmable Read-only Memory, PROM), erasable programmable read-only memory ( Erasable Programmable Read Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electronically-Erasable Programmable Read-Only Memory (EEPROM), CD-ROM (Compact Disc Read-Only Memory) or other optical disk storage, magnetic disk storage, tape storage, or any other computer-readable medium that can be used to carry or store data.
  • Read-Only Memory Read-Only Memory
  • RAM random access memory
  • PROM programmable read-only memory
  • PROM Programmable Read-only Memory
  • EPROM Erasable Programmable Read Only Memory
  • OTPROM One-time Programmable Read-Only Memory
  • EEPROM Electronically-Erasable Programmable Read-Only Memory
  • CD-ROM Compact Disc Read-Only Memory
  • the technical solution of this application is essentially or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions.
  • a device which may be a personal computer, a server, or a network device, a robot, a single-chip computer, a chip, a robot, etc.
  • a device which may be a personal computer, a server, or a network device, a robot, a single-chip computer, a chip, a robot, etc.

Abstract

L'invention concerne un procédé de positionnement de véhicule et un dispositif de surveillance, le procédé comprenant les étapes consistant à : surveiller, une fois qu'un véhicule entre dans un espace semi-fermé, pour savoir si le véhicule est situé dans une plage prédéfinie d'un système de positionnement dans l'espace semi-fermé (S101); acquérir, dans la mesure où le véhicule est situé dans la plage prédéfinie du système de positionnement, des informations de position du système de positionnement dans l'espace semi-fermé sur une carte (S102); et positionner le véhicule sur la carte en fonction des informations de position (S103). Le procédé peut positionner avec précision des véhicules dans des tunnels, des parcs de stationnement et d'autres espaces dans lesquels les signaux sont faibles, améliorant ainsi la robustesse du positionnement de véhicules dans des espaces qui ont des signaux faibles.
PCT/CN2021/085478 2020-05-21 2021-04-03 Procédé et dispositif de positionnement de véhicule WO2021232971A1 (fr)

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