CN107063282A - A kind of automobile navigation method and its device based on tunnel - Google Patents
A kind of automobile navigation method and its device based on tunnel Download PDFInfo
- Publication number
- CN107063282A CN107063282A CN201710250965.XA CN201710250965A CN107063282A CN 107063282 A CN107063282 A CN 107063282A CN 201710250965 A CN201710250965 A CN 201710250965A CN 107063282 A CN107063282 A CN 107063282A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- tunnel
- picture
- information
- turn
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention discloses the automobile navigation method based on tunnel and its device, wherein, the automobile navigation method includes：The picture that S1 is shot according to capture apparatus obtains the travel speed of vehicle；The picture that S2 is shot according to capture apparatus judges the turn information of vehicle；The turn information for the vehicle that S3 is obtained in the travel speed and step S2 according to the obtained vehicles of step S1 judges positional information of the vehicle in tunnel；S4 judges whether to travel according to predetermined paths according to the positional information of vehicle, if it is not, jumping to step S5；S5 is according to the positional information of vehicle again programme path.Its travel speed, turn information according to vehicle in tunnel etc. obtains positional information of the vehicle in tunnel, and positioning of the vehicle in tunnel is realized with this, and then is positioned in tunnel, and facility is provided for driver.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of automobile navigation method and its device.
Background technology
Vehicular navigation technology is the important branch of GPS (Global Positioning System, GPS) technology, its work
Principle is：Navigation equipment receives the position coordinates of at least 3 satellite transmission in earth-circling 24 gps satellites, and will receive
To the electronic map that is stored with itself of position coordinates described in position coordinates matched, determine to carry the navigation with this
Accurate location of the vehicle of equipment in electronic map.Navigation equipment can be car-mounted terminal, portable navigation device, mobile phone terminal
Deng.Based on this, after user sets departure place and destination, the guidance path that navigation equipment is obtained according to calculating is user
Navigation, helps car owner quickly to arrive at.
At present, after navigation equipment enters tunnel, because navigation equipment can not receive gps signal, or it can only receive
To the position coordinates transmitted less than three satellites, so that the current location of navigation equipment can not be obtained, with this, vehicle is in tunnel
During middle traveling, navigation equipment can not be navigated for user.
If tunnel Nei You fork on the road, typically can enter tunnel before make navigation instruction, still, if tunnel away from
Distance from bifurcated mouthful is longer, and navigation equipment can not provide navigation information in time when vehicle reaches fork on the road；Further,
If driver makes false judgment in the fork on the road in tunnel, now GPS can not upgrade in time the road information, again of vehicle
New programme path and prompting is made, can undoubtedly be made troubles to driver.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of automobile navigation method and its device based on tunnel, effectively solve
The technical problem that existing navigation equipment of having determined can not be navigated in tunnel.
A kind of automobile navigation method based on tunnel, applied to navigation equipment, the right ahead includes capture apparatus,
And the vehicle is travelled in tunnel, the automobile navigation method includes：
The picture that S1 is shot according to capture apparatus obtains the travel speed of vehicle；
The picture that S2 is shot according to capture apparatus judges the turn information of vehicle；
The turn information for the vehicle that S3 is obtained in the travel speed and step S2 according to the obtained vehicles of step S1 judges car
Positional information in tunnel；
S4 judges whether to travel according to predetermined paths according to the positional information of vehicle, if it is not, jumping to step S5；
S5 is according to the positional information of vehicle again programme path.
In the technical program, when vehicle traveling is in tunnel, according to travel speed of the vehicle in tunnel, turns and believe
Breath etc. obtains positional information of the vehicle in tunnel, realizes positioning of the vehicle in tunnel with this, and then determined in tunnel
Position, facility is provided for driver.
It is further preferred that specifically including in step sl：
S11 capture apparatus shoots picture according to predeterminated frequency；
S12 chooses at least one reference point in picture is shot；
S13 calculates the travel speed of vehicle according to the displacement and shooting time of reference point in the picture of shooting in real time.
In the technical program, reference point is chosen in the picture of shooting, so as to be calculated according to the change in location of reference point
The real time running speed of vehicle, it is simple and convenient.
It is further preferred that specifically including in step s 2：
S21 extracts the characteristic point for the picture not shot in the same time respectively；
S22 matches the characteristic point of different pictures；
S23 calculates the transformational relation between different pictures according to the characteristic point of matching, so that the turn information of vehicle is obtained,
The turn information includes angle of turn and turn direction.
It is further preferred that also including before step S1：
In the technical program, obtain shooting the anglec of rotation of picture by matching the characteristic point between different pictures, with
This obtains the angle of turn information of vehicle, and further information is provided for the positioning of vehicle.
The geographical location information that S0 navigation equipments collection vehicle enters before tunnel, plans in tunnel according to destination and travels
Predetermined paths.
It is further preferred that specifically including in step s3：
Geographical location information, the travel speed of vehicle and the running time that S31 enters before tunnel according to vehicle, which are calculated, to be obtained
Displacement of the vehicle in tunnel；
The turn information of displacements of the S32 according to vehicle in tunnel, combining cartographic information and vehicle, obtains vehicle in tunnel
In positional information.
It is further preferred that including in step s 4：
S41 judges whether vehicle have selected correct bifurcated mouthful according to the turn information of vehicle, if so, jumping to step
S42, otherwise jumps to step S5；
S42 navigates according to predetermined paths.
Present invention also offers a kind of vehicle navigation apparatus based on tunnel, applied to navigation equipment, the navigation equipment
The geographical location information that collection vehicle enters before tunnel, and the predetermined paths travelled in tunnel are planned according to destination, it is described
Right ahead includes capture apparatus, and the vehicle navigation apparatus includes：
Picture acquisition module, for obtaining the picture shot from capture apparatus；
Computing module, the travel speed for obtaining vehicle and vehicle are calculated for the picture that is obtained according to picture acquisition module
Turn information, and obtain position letter of the vehicle in tunnel for the travel speed and the turn information of vehicle according to vehicle
Breath；
Judge module, the positional information of the vehicle for being obtained according to computing module judges whether according to predetermined paths row
Sail.
In the technical program, when vehicle traveling is in tunnel, according to travel speed of the vehicle in tunnel, turns and believe
Breath etc. obtains positional information of the vehicle in tunnel, realizes positioning of the vehicle in tunnel with this, and then determined in tunnel
Position, facility is provided for driver.
It is further preferred that the computing module includes：
Reference point chooses unit, for choosing at least one reference point in the picture that picture acquisition module is obtained；
Arithmetic element, the position of vehicle is calculated for choosing position of the reference point of module selection in picture according to reference point
Move, and displacement according to vehicle and shooting time calculate the travel speed of vehicle in real time.
It is further preferred that also including in the computing module：
Feature extraction unit, the characteristic point of the picture not shot in the same time for extracting the acquisition of picture acquisition module；
Characteristic matching unit, the characteristic point for the different pictures that point is extracted is extracted for matching characteristic；
The arithmetic element calculates the transformational relation between different pictures according to the characteristic point of characteristic matching units match, from
And obtain the turn information of vehicle.
It is further preferred that also include position information acquisition module in the vehicle navigation apparatus, wherein,
Geographical location information, the travel speed of vehicle and running time that the arithmetic element enters before tunnel according to vehicle
Calculating obtains displacement of the vehicle in tunnel；
Displacement of the vehicle that the position information acquisition module is calculated according to arithmetic element in tunnel, combining cartographic information
With the turn information of vehicle, positional information of the vehicle in tunnel is obtained.
Brief description of the drawings
The present invention is explained in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the automobile navigation method schematic flow sheet based on tunnel in the present invention；
Fig. 2 is a kind of embodiment schematic diagram of vehicle navigation apparatus based on tunnel in the present invention；
Fig. 3 is the vehicle navigation apparatus another embodiment schematic diagram based on tunnel in the present invention；
Fig. 4 is the vehicle navigation apparatus another embodiment schematic diagram based on tunnel in the present invention；
Fig. 5 is the vehicle navigation apparatus another embodiment schematic diagram based on tunnel in the present invention.
Reference：
100- vehicle navigation apparatus, 110- picture acquisition modules, 120- computing modules, 121- reference points choose unit,
122- arithmetic elements, 123- feature extraction units, 124- characteristic matching units, 130- judge modules, 140- positional informations are obtained
Module.
Embodiment
The automobile navigation method schematic flow sheet based on tunnel provided as shown in Figure 1 for the present invention, specifically, the vehicle is led
Boat method is applied to navigation equipment, and vehicle includes capture apparatus, and vehicle is travelled in tunnel.It can be seen that at this
Automobile navigation method includes：The picture that S1 is shot according to capture apparatus obtains the travel speed of vehicle；S2 is according to capture apparatus
The picture of shooting judges the turn information of vehicle；What S3 was obtained in the travel speed and step S2 according to the obtained vehicles of step S1
The turn information of vehicle judges positional information of the vehicle in tunnel；S4 judges whether according to default according to the positional information of vehicle
Route running, if it is not, jumping to step S5；S5 is according to the positional information of vehicle again programme path.
In the automobile navigation method, vehicle enters before tunnel, according to the geographical location information of navigation equipment collection vehicle
And temporal information, real-time speed of the vehicle before tunnel is entered is calculated with this.In addition, navigation equipment plans tunnel according to destination
The predetermined paths of middle traveling, including tunnel prong turn direction etc..
Vehicle is advanced into behind tunnel by tunnel, and the navigation information of navigation equipment is lost, and is arranged on the shooting of right ahead
Equipment shoots picture according to predeterminated frequency immediately.During calculating, at least one reference is chosen in picture is shot first
Point (choosing in picture has the object of reference of prominent features as a reference point), then according to the displacement of reference point in the picture of shooting
(displacement of retrogressing) and shooting time calculate the travel speed of vehicle in real time.In other embodiments, in the left and right two of vehicle
Rearview mirror, the rear of vehicle etc. include capture apparatus, the real time running speed of vehicle are calculated according to the picture of its shooting, really
Protect the accuracy of obtained travel speed.If being difficult to find that reference point in the picture that vehicle front is shot, vehicle can be used
Left and right sides rearview mirror, the picture that shoots of the rear of vehicle etc. calculated.
In one example, if the capture apparatus of rear view of vehicle shoots the frequency of photo and taken the photograph once for 1 second beats, set according to shooting
Standby front and rear two photos shot obtain referring to 7 meters of point backing, then the travel speed for obtaining now vehicle is 25 kilometers/hour.
In other instances, capture apparatus can also be taken pictures with other frequencies, and such as every 0.5 second beats is taken the photograph once, every 2 second beats is taken the photograph once
Deng being not specifically limited, set according to actual conditions herein.
Calculate after the real time running speed for obtaining vehicle, picture (e.g., the capture apparatus not shot in the same time is extracted respectively
Two width pictures of front and rear shooting) characteristic point and the characteristic point extracted is matched, then according to the characteristic point meter of matching
The transformational relation between different pictures is calculated, the turn information of vehicle, including angle of turn and turn direction is obtained.
In one example, if the capture apparatus of rear view of vehicle shoots the frequency of photo and taken the photograph once for 1 second beats, two figures are obtained
After piece, the SIFT feature or SURF characteristic points of two pictures are extracted successively, afterwards using open CV Brute Force
The method of exhaustion or the approximate k nearest neighbor algorithms of FLANN are matched to the SIFT feature extracted in two pictures, then pass through following formula meter
The transformational relation between two pictures is calculated, open CV SolvePnPRANSAC functions or PCL ICP is called
(Iterative Closest Point, iteration closest approach) algorithm solve the turn information for obtaining vehicle.
Calculating is obtained after the turn information of vehicle, geographical location information, the vehicle entered immediately according to vehicle before tunnel
Travel speed and running time calculate and obtain displacement of the vehicle in tunnel, and the turning letter of combining cartographic information and vehicle
Breath, obtains positional information of the vehicle in tunnel, and then believe according to the position for entering the predetermined paths of tunnel preplanning and obtaining
Breath judges whether vehicle is travelled according to predetermined paths, if so, then continuing to travel, if it is not, then programme path is carried out again
Navigation, and give a warning.Furthermore, it is understood that in tunnel, when driver runs into bifurcated mouthful, the picture shot according to capture apparatus
Judge the turn information of vehicle, and then judge the bifurcated mouthful of vehicle selection, if correct bifurcated mouthful is have selected, if so, according to pre-
If route guidance；Otherwise, according to the cartographic information of storage, programme path again.
A kind of real-time mode schematic diagram of the vehicle navigation apparatus based on tunnel that the present invention is provided is illustrated in figure 2, it should
For navigation equipment, and vehicle includes capture apparatus.Before vehicle enters tunnel, navigation equipment collection vehicle enters before tunnel
Geographical location information, and the default road that travels in tunnel is planned according to destination.It can be seen that in the automobile navigation
Device 100 includes：Picture acquisition module 110, computing module 120 and judge module 130, wherein, computing module 120 is distinguished
It is connected with picture acquisition module 110 and judge module 130.
In the automobile navigation method, vehicle enters before tunnel, according to the geographical location information of navigation equipment collection vehicle
And temporal information, real-time speed of the vehicle before tunnel is entered is calculated with this.In addition, navigation equipment plans tunnel according to destination
The predetermined paths of middle traveling, including tunnel prong turn direction etc..
Vehicle is advanced into behind tunnel by tunnel, and the navigation information of navigation equipment is lost, and capture apparatus is immediately according to default frequency
Rate shoots picture.Picture acquisition module 110 in vehicle navigation apparatus 100 (is such as arranged on right ahead/left side from capture apparatus
Rear of right sided mirror unit/vehicle etc.) obtain shoot picture after, computing module 120 is obtained according to picture acquisition module 110
The picture that takes calculates the turn information of the travel speed for obtaining vehicle and vehicle, then according to the travel speed of vehicle and vehicle
Turn information obtains positional information of the vehicle in tunnel；Finally, the vehicle that judge module 130 is obtained according to computing module 120
Positional information judge whether to travel according to predetermined paths, if so, then being travelled according to predetermined paths, otherwise according to vehicle
Positional information programme path again.
Above-mentioned embodiment is improved and obtains present embodiment, as shown in figure 3, in the present embodiment, the vehicle
Guider 100 includes：Wrapped in picture acquisition module 110, computing module 120 and judge module 130, computing module 120
The reference point for including interconnection chooses unit 121 and arithmetic element 122.
Vehicle is advanced into behind tunnel by tunnel, and the navigation information of navigation equipment is lost, and capture apparatus is immediately according to default frequency
Rate shoots picture.Picture acquisition module 110 in vehicle navigation apparatus 100 is after capture apparatus obtains the picture shot, meter
Calculate the selection unit 121 of the reference point in module 120 and at least one reference point is chosen in picture (with prominent special in selection picture
The object of reference levied is as a reference point), subsequent arithmetic element 122 is according to the displacement (displacement of retrogressing) of reference point in the picture of shooting
Calculate the travel speed of vehicle in real time with shooting time.Car is then obtained according to the travel speed of vehicle and the turn information of vehicle
Positional information in tunnel；Finally, the positional information for the vehicle that judge module 130 is obtained according to computing module 120 judges
Whether travel, if so, then being travelled according to predetermined paths, otherwise advised again according to the positional information of vehicle according to predetermined paths
Draw route.In other embodiments, in vehicle left and right sides rearview mirror, the rear of vehicle etc. include capture apparatus, root
The real time running speed of vehicle is calculated according to the picture of its shooting, it is ensured that the accuracy of obtained travel speed.If vehicle front
Reference point is difficult to find that in the picture of shooting, can use what left and right sides rearview mirror, rear of vehicle of vehicle etc. were shot
Picture is calculated.
Above-mentioned embodiment is improved and obtains present embodiment, as shown in figure 4, in the present embodiment, the vehicle
Guider 100 includes：Wrapped in picture acquisition module 110, computing module 120 and judge module 130, computing module 120
The reference point for including interconnection is chosen outside unit 121 and arithmetic element 122, in addition to：The feature extraction unit of interconnection
123 and characteristic matching unit 124.
Vehicle is advanced into behind tunnel by tunnel, and the navigation information of navigation equipment is lost, and capture apparatus is immediately according to default frequency
Rate shoots picture.Picture acquisition module 110 in vehicle navigation apparatus 100 is after capture apparatus obtains the picture shot, meter
Calculate the selection unit 121 of the reference point in module 120 and at least one reference point is chosen in picture (with prominent special in selection picture
The object of reference levied is as a reference point), subsequent arithmetic element 122 is according to the displacement (displacement of retrogressing) of reference point in the picture of shooting
Calculate the travel speed of vehicle in real time with shooting time.Subsequent feature extraction unit 123 extracts what picture acquisition module 110 was obtained
The characteristic point for the picture not shot in the same time, and the different pictures that point is extracted are extracted by the matching characteristic of characteristic matching unit 124
Characteristic point, the characteristic point that arithmetic element 122 is matched according to characteristic matching unit 124 afterwards calculates the conversion between different pictures
Relation, so as to obtain the turn information of vehicle.Finally, the position letter for the vehicle that judge module 130 is obtained according to computing module 120
Breath judges whether to travel according to predetermined paths, if so, then being travelled according to predetermined paths, otherwise according to the positional information of vehicle
Again programme path.
Above-mentioned embodiment is improved and obtains present embodiment, as shown in figure 4, in the present embodiment, the vehicle
Guider 100 is included outside picture acquisition module 110, computing module 120 and judge module 130, in addition to position letter
Cease acquisition module 140.
Vehicle is advanced into behind tunnel by tunnel, and the navigation information of navigation equipment is lost, and capture apparatus is immediately according to default frequency
Rate shoots picture.Picture acquisition module 110 in vehicle navigation apparatus 100 is after capture apparatus obtains the picture shot, meter
Calculate the selection unit 121 of the reference point in module 120 and at least one reference point is chosen in picture (with prominent special in selection picture
The object of reference levied is as a reference point), subsequent arithmetic element 122 is according to the displacement (displacement of retrogressing) of reference point in the picture of shooting
Calculate the travel speed of vehicle in real time with shooting time.Subsequent feature extraction unit 123 extracts what picture acquisition module 110 was obtained
The characteristic point for the picture not shot in the same time, and the different pictures that point is extracted are extracted by the matching characteristic of characteristic matching unit 124
Characteristic point, the characteristic point that arithmetic element 122 is matched according to characteristic matching unit 124 afterwards calculates the conversion between different pictures
Relation.Afterwards, arithmetic element 122 according to vehicle enter tunnel before geographical location information, the travel speed and traveling of vehicle when
Between calculate obtain displacement of the vehicle in tunnel, the vehicle that position information acquisition module 140 is calculated according to arithmetic element 122 is in tunnel
The turn information of displacement in road, combining cartographic information and vehicle, obtains positional information of the vehicle in tunnel.Finally, judge
The positional information for the vehicle that module 130 is obtained according to computing module 120 judges whether to travel according to predetermined paths, if so, then pressing
Travelled according to predetermined paths, otherwise according to the positional information of vehicle again programme path.
In this course, in tunnel, when driver runs into bifurcated mouthful, the figure that computing module is shot according to capture apparatus
Piece judges the turn information of vehicle, and then judges the bifurcated mouthful of vehicle selection, if having selected correct bifurcated mouthful, if so, according to
Predetermined paths are navigated；Otherwise, according to the cartographic information of storage, programme path again.
Claims (10)
1. a kind of automobile navigation method based on tunnel, it is characterised in that applied to navigation equipment, the vehicle is set including shooting
It is standby, and the vehicle travels in tunnel, the automobile navigation method includes：
The picture that S1 is shot according to capture apparatus obtains the travel speed of vehicle；
The picture that S2 is shot according to capture apparatus judges the turn information of vehicle；
The turn information for the vehicle that S3 is obtained in the travel speed and step S2 according to the obtained vehicles of step S1 judges that vehicle exists
Positional information in tunnel；
S4 judges whether to travel according to predetermined paths according to the positional information of vehicle, if it is not, jumping to step S5；
S5 is according to the positional information of vehicle again programme path.
2. automobile navigation method as claimed in claim 1, it is characterised in that specifically include in step sl：
S11 capture apparatus shoots picture according to predeterminated frequency；
S12 chooses at least one reference point in picture is shot；
S13 calculates the travel speed of vehicle according to the displacement and shooting time of reference point in the picture of shooting in real time.
3. automobile navigation method as claimed in claim 1, it is characterised in that specifically include in step s 2：
S21 extracts the characteristic point for the picture not shot in the same time respectively；
S22 matches the characteristic point of different pictures；
S23 calculates the transformational relation between different pictures according to the characteristic point of matching, so that the turn information of vehicle is obtained, it is described
Turn information includes angle of turn and turn direction.
4. the automobile navigation method as described in claim 1 or 2 or 3, it is characterised in that also include before step S1：
The geographical location information that S0 navigation equipments collection vehicle enters before tunnel, it is pre- according to what is travelled in the planning tunnel of destination
If route.
5. automobile navigation method as claimed in claim 4, it is characterised in that specifically include in step s3：
Geographical location information, the travel speed of vehicle and the running time that S31 enters before tunnel according to vehicle, which are calculated, obtains vehicle
Displacement in tunnel；
The turn information of displacements of the S32 according to vehicle in tunnel, combining cartographic information and vehicle, obtains vehicle in tunnel
Positional information.
6. the automobile navigation method as described in claim 1 or 2 or 3 or 5, it is characterised in that include in step s 4：
S41 judges whether vehicle have selected correct bifurcated mouthful according to the turn information of vehicle, if so, step S42 is jumped to, it is no
Then jump to step S5；
S42 navigates according to predetermined paths.
7. a kind of vehicle navigation apparatus based on tunnel, it is characterised in that applied to navigation equipment, the navigation equipment collecting vehicle
The geographical location information entered before tunnel, and the predetermined paths that travel in tunnel, the vehicle bag are planned according to destination
Capture apparatus is included, the vehicle navigation apparatus includes：
Picture acquisition module, for obtaining the picture shot from capture apparatus；
Computing module, the picture for being obtained according to picture acquisition module calculates the travel speed for obtaining vehicle and the turning of vehicle
Information, and obtain positional information of the vehicle in tunnel for the travel speed and the turn information of vehicle according to vehicle；
Judge module, the positional information of the vehicle for being obtained according to computing module judges whether to travel according to predetermined paths.
8. vehicle navigation apparatus as claimed in claim 7, it is characterised in that the computing module includes：
Reference point chooses unit, for choosing at least one reference point in the picture that picture acquisition module is obtained；
Arithmetic element, the displacement of vehicle is calculated for choosing position of the reference point of module selection in picture according to reference point,
And displacement according to vehicle and shooting time calculate the travel speed of vehicle in real time.
9. vehicle navigation apparatus as claimed in claim 8, it is characterised in that also include in the computing module：
Feature extraction unit, the characteristic point of the picture not shot in the same time for extracting the acquisition of picture acquisition module；
Characteristic matching unit, the characteristic point for the different pictures that point is extracted is extracted for matching characteristic；
The arithmetic element calculates the transformational relation between different pictures according to the characteristic point of characteristic matching units match, so that
To the turn information of vehicle.
10. vehicle navigation apparatus as claimed in claim 9, it is characterised in that also include position in the vehicle navigation apparatus
Data obtaining module, wherein,
Geographical location information, the travel speed of vehicle and the running time that the arithmetic element enters before tunnel according to vehicle are calculated
Obtain displacement of the vehicle in tunnel；
Displacement of the vehicle that the position information acquisition module is calculated according to arithmetic element in tunnel, combining cartographic information and car
Turn information, obtain positional information of the vehicle in tunnel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710250965.XA CN107063282A (en) | 2017-04-18 | 2017-04-18 | A kind of automobile navigation method and its device based on tunnel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710250965.XA CN107063282A (en) | 2017-04-18 | 2017-04-18 | A kind of automobile navigation method and its device based on tunnel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107063282A true CN107063282A (en) | 2017-08-18 |
Family
ID=59599603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710250965.XA Pending CN107063282A (en) | 2017-04-18 | 2017-04-18 | A kind of automobile navigation method and its device based on tunnel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107063282A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110164164A (en) * | 2019-04-03 | 2019-08-23 | 浙江工业大学之江学院 | The method for identifying complicated road precision using camera shooting function enhancing Mobile Telephone Gps software |
| CN110967006A (en) * | 2018-09-28 | 2020-04-07 | 巴拿拿科技(香港)有限公司 | Navigation positioning method and device based on tunnel map, storage medium and terminal equipment |
| CN110986966A (en) * | 2019-12-17 | 2020-04-10 | 苏州智加科技有限公司 | Automatic driving positioning method and system for long-distance tunnel |
| CN111323038A (en) * | 2020-03-27 | 2020-06-23 | 新石器慧通（北京）科技有限公司 | Method and system for positioning unmanned vehicle in tunnel and electronic equipment |
| CN115762208A (en) * | 2022-11-08 | 2023-03-07 | 中汽创智科技有限公司 | Method, device and equipment for controlling running of vehicles in tunnel |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200903397A (en) * | 2007-07-13 | 2009-01-16 | Hon Hai Prec Ind Co Ltd | Vehicle navigation device and method |
| CN101498583A (en) * | 2008-02-01 | 2009-08-05 | 陈新良 | Vehicle navigation apparatus and its positioning method |
| CN104677375A (en) * | 2015-03-18 | 2015-06-03 | 沈阳美行科技有限公司 | System for guiding tunnel road in advance |
| CN105137468A (en) * | 2015-09-24 | 2015-12-09 | 北京理工大学 | Photoelectric type automobile continuous navigation data acquiring device and method in GPS blind area environment |
| CN106441286A (en) * | 2016-06-27 | 2017-02-22 | 上海大学 | Unmanned aerial vehicle tunnel inspection system based on BIM technology |
-
2017
- 2017-04-18 CN CN201710250965.XA patent/CN107063282A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200903397A (en) * | 2007-07-13 | 2009-01-16 | Hon Hai Prec Ind Co Ltd | Vehicle navigation device and method |
| CN101498583A (en) * | 2008-02-01 | 2009-08-05 | 陈新良 | Vehicle navigation apparatus and its positioning method |
| CN104677375A (en) * | 2015-03-18 | 2015-06-03 | 沈阳美行科技有限公司 | System for guiding tunnel road in advance |
| CN105137468A (en) * | 2015-09-24 | 2015-12-09 | 北京理工大学 | Photoelectric type automobile continuous navigation data acquiring device and method in GPS blind area environment |
| CN106441286A (en) * | 2016-06-27 | 2017-02-22 | 上海大学 | Unmanned aerial vehicle tunnel inspection system based on BIM technology |
Non-Patent Citations (1)
| Title |
|---|
| 陈慧岩: "《无人驾驶汽车概论》", 31 July 2014, 北京理工大学出版社 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110967006A (en) * | 2018-09-28 | 2020-04-07 | 巴拿拿科技(香港)有限公司 | Navigation positioning method and device based on tunnel map, storage medium and terminal equipment |
| CN110164164A (en) * | 2019-04-03 | 2019-08-23 | 浙江工业大学之江学院 | The method for identifying complicated road precision using camera shooting function enhancing Mobile Telephone Gps software |
| CN110986966A (en) * | 2019-12-17 | 2020-04-10 | 苏州智加科技有限公司 | Automatic driving positioning method and system for long-distance tunnel |
| CN110986966B (en) * | 2019-12-17 | 2021-06-22 | 苏州智加科技有限公司 | Automatic driving positioning method and system for long-distance tunnel |
| CN111323038A (en) * | 2020-03-27 | 2020-06-23 | 新石器慧通（北京）科技有限公司 | Method and system for positioning unmanned vehicle in tunnel and electronic equipment |
| CN111323038B (en) * | 2020-03-27 | 2021-10-26 | 新石器慧通（北京）科技有限公司 | Method and system for positioning unmanned vehicle in tunnel and electronic equipment |
| CN115762208A (en) * | 2022-11-08 | 2023-03-07 | 中汽创智科技有限公司 | Method, device and equipment for controlling running of vehicles in tunnel |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107063282A (en) | A kind of automobile navigation method and its device based on tunnel | |
| CN106610294B (en) | Positioning method and device | |
| EP2372309B1 (en) | Vehicle position detection system | |
| US20210248768A1 (en) | Generation of Structured Map Data from Vehicle Sensors and Camera Arrays | |
| KR101628427B1 (en) | Deadreckoning-based navigation system using camera and control method thereof | |
| JP7074438B2 (en) | Vehicle position estimation device | |
| JP5257252B2 (en) | Driving support device and driving support system | |
| KR101919366B1 (en) | Apparatus and method for recognizing vehicle location using in-vehicle network and image sensor | |
| CN101360971B (en) | Positioning device, and navigation system | |
| EP2372308B1 (en) | Image processing system and vehicle control system | |
| CN110234957B (en) | Method for storing travel record, method for generating travel track model, method for estimating self-position, and device for storing travel record | |
| CN104918817A (en) | Guidance system and method | |
| CN107036607A (en) | For the system and method for the map datum for examining vehicle | |
| CN107063287A (en) | The information processor and method of information processor and method and vehicle | |
| CN101451852A (en) | Navigation equipment and navigation method | |
| KR20070019813A (en) | Car navigation system for using argumented reality | |
| KR102037129B1 (en) | Apparatus and Method for Compensating Position of Vehicle, System for Compensating Position of Vehicle and Unmanned Vehicle Using the Same | |
| CN110491156A (en) | A kind of cognitive method, apparatus and system | |
| CN110119138A (en) | For the method for self-locating of automatic driving vehicle, system and machine readable media | |
| CN109387218B (en) | Vehicle-mounted equipment and road maintenance auxiliary management system | |
| EP2988097B1 (en) | Driving support system, method, and program | |
| CN107449436A (en) | A kind of Motorcade navigation method and system | |
| CN106595695A (en) | Vehicle-mounted system and car | |
| WO2014097368A1 (en) | Navigation device, server device, and route guidance method | |
| KR20220061092A (en) | GPS positioning method and computer program product |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170818 |