CN108007460A - The method and system of mobile object location are determined in environment is predicted - Google Patents
The method and system of mobile object location are determined in environment is predicted Download PDFInfo
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- CN108007460A CN108007460A CN201610933624.8A CN201610933624A CN108007460A CN 108007460 A CN108007460 A CN 108007460A CN 201610933624 A CN201610933624 A CN 201610933624A CN 108007460 A CN108007460 A CN 108007460A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000391 smoking effect Effects 0.000 description 1
Classifications
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- 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
- G01C21/20—Instruments for performing navigational calculations
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of method that mobile object location is determined in environment is predicted, wherein, which includes shooting part, and this method includes recording initial position of the mobile object in the precognition environment；During the mobile object moves, the mobile data of the mobile object is persistently obtained；Image in front of mobile object is obtained by the shooting part；The rough position of the mobile object is determined by the initial position and the mobile data；When acquired image includes specific identifier, obtain the position data of the specific identifier from the electronic map data of the precognition environment, and the newest rough position of the mobile object is corrected to obtain the accurate location of the mobile object based on the position data of acquired specific identifier.Corresponding system is also provided.
Description
Technical field
The present invention relates to navigation field, more particularly, it is related to the skill that mobile object location is determined in environment is predicted
Art.
Background technology
The use of satellite navigation system is popularized very much, but indoors when, satellite asterisk is hindered to cause satellite navigation
System can not normal navigation.
Being built inside existing megastore, office building or public arena has indoor or underground parking, especially this
When indoor or underground parking is larger, often occur driver be not to the inside driving path very clearly and navigate can not be effective
Situation about using.
In addition, such large parking lot, even if having stopped car, also easily there is the situation that can not find vehicle in when pick-up.
The content of the invention
In view of this, the present invention provides a kind of method that mobile object location is determined in environment is predicted, wherein, the movement
Object includes shooting part, and this method includes recording initial position of the mobile object in the precognition environment；In the movement pair
As during movement, persistently obtaining the mobile data of the mobile object；Image in front of mobile object is obtained by the shooting part；
The rough position of the mobile object is determined by the initial position and the mobile data；Include in acquired image specific
During mark, position data of the specific identifier in electronic map is obtained, and determine the shooting part and the specific identifier
Relative position, and that the mobile object is corrected with the relative position is newest for the position data based on acquired specific identifier
Rough position to obtain the accurate location of the mobile object.
The method for determining mobile object location in environment is predicted according to the present invention, alternatively, the precognition environment
Electronic map data is the mobile object when entering the precognition environment, by network from distally obtaining.It is alternatively, described
The electronic map data of precognition environment is pre-loaded in the electronic system of the mobile object.
The method for determining mobile object location in environment is predicted according to the present invention, alternatively, the specific identifier bag
Include the mark that can be identified by shooting part being arranged in the precognition environment.
The method for determining mobile object location in environment is predicted according to the present invention, alternatively, the mobile object is
Vehicle.
The method for determining mobile object location in environment is predicted according to the present invention, alternatively, the mobile data bag
Include displacement distance and direction.
According to the present invention in environment is predicted determine mobile object location method, alternatively, the mobile data by
The speed data that the mileometer of vehicle is obtained or obtained based on the sensor set in vehicle calculates acquisition, and the direction is by setting
Steering angle sensor obtains in the car.
According to another aspect of the present invention, the method that precognition environment is mobile object navigation, the method bag are additionally provided in
Include：Method according to as above any one determines the current position of vehicle；Based on the electronic map data, the movement
The current position of object and destination to provide route for the mobile object
According to another aspect of the present invention, a kind of system that mobile object location is determined in environment is predicted, the system are also provided
Including：Shooting part, and be arranged in the mobile object and be used to obtain the image in front of the mobile object travel direction；First is single
Member, for recording initial position of the mobile object in the precognition environment；Second unit, for moving the phase in the mobile object
Between, persistently obtain the mobile data of the mobile object；Third unit, for true by the initial position and the mobile data
The rough position of the fixed mobile object；Unit the 4th, for when acquired image includes specific identifier, from the precognition ring
The electronic map data in border obtains the position data of the specific identifier；Unit the 5th is used to include spy in acquired image
Calibration determines the relative position of the shooting part and the specific identifier when knowing.And the 4th unit be further arranged to be based on institute
The position data of the specific identifier of acquisition and identified relative position correct the newest rough position of the mobile object
To obtain the accurate location of the mobile object.
According to another aspect of the invention, control device is also provided, for determining the position of mobile object in environment is predicted
Put, which includes：Receiving unit, for receive the mobile object the initial position message in the precognition environment,
Receive the mobile data obtained during mobile object movement, receive the mobile object travel direction obtained by shooting part
The image in front；Computing unit, it is arranged to determine the rough of the mobile object by the initial position and the mobile data
Position, when acquired image includes specific identifier, the specific identifier is obtained from the electronic map data of the precognition environment
Position data and determine the relative position of the shooting part and the specific identifier, and based on acquired specific identifier
Position data and identified relative position correct the newest rough position of the mobile object to obtain the mobile object
Accurate location.
In accordance with a further aspect of the present invention, the system that precognition environment is mobile object navigation is additionally provided in, it is included as above
The system that mobile object location is determined in environment is predicted；Or it performs as above that any one is definite in environment predict
The method of mobile object location determines the mobile object current location, and the electronic map data that combines the precognition environment come for
Mobile object is navigated；Or perform as described above in the method that precognition environment is mobile object navigation；Or using according to the present invention
Exemplary control device.
Brief description of the drawings
Fig. 1 is the flow chart for the method for determining mobile object location in environment is predicted according to the present invention.
Fig. 2 a to Fig. 2 d are several schematic examples of specific identifier.
Fig. 3 is the signal on the road surface encountered in vehicle travel process.
Fig. 4 is the structure diagram for the system for determining mobile object location in environment is predicted according to the present invention.
Embodiment
Referring now to the schematic example of the attached drawing description present invention, identical drawing reference numeral represents identical element.Hereafter retouch
Each example stated contributes to those skilled in the art to understand thoroughly the present invention, it is intended to example and unrestricted.
Fig. 1 is the flow chart for the method for determining mobile object location in environment is predicted according to the present invention.Here, precognition
Environment refer to mobile object to be entered, navigation satellite signal be restricted but its electronic map obtained by environment, including
But be not limited to basement, the interior on ground and it is overhead under environment.Basement is, for example, underground parking garage, on ground
Interior is, for example, garage on ground etc..Here, mobile object is, for example, vehicle, vehicle can be automobile, motorcycle etc..
In all examples herein, specific example using automobile as mobile object illustrates the present invention, but this area skill
Art personnel are it is understood that in this example provided or can be directly applied to or by appropriate deformation with can be applicable to after changing
Such as in other mobile objects such as motorcycle.
Perform according to the present invention it is exemplary in the method for definite mobile object location in predict environment when, the mobile object
On be provided with shooting part or have shooting part can to the mobile object provide photographed data.The shooting part or with it is fixed or with
It is removably mounted in the mobile object.In addition, in some implementations, can by the smart mobile phone of mobile object user or
Other electronic equipments with camera are as shooting part, in this case, the mobile phone or electronic equipment and the mobile object
It can communicate.In the case where the mobile object is vehicle, which can be fixedly mounted on the vehicle,
But removably it is installed to the vehicle.Alternatively, can be using the mobile phone of user as shooting part（In this case, should
It can communicate between mobile phone and the electronic system in vehicle）.Again for example, the automobile data recorder of vehicle can be used as image pickup part
Part, in this case, can communicate between the automobile data recorder and the electronic system in execution automobile according to the present invention.
Itself be already provided with the automobile of camera directly can perform this method using the camera.
In the example below, the example using underground garage as the precognition environment.
In step 10, initial position of the mobile object in environment is predicted is recorded.When vehicle drives to the precognition environment,
Record the position of the vehicle.Specifically, the navigation system of vehicle records the car when vehicle drives to the underground garage entrance
In the position of the entrance, as initial position.
Example according to the present invention, the precognition environment will be reached by driving to the precognition ambient inlet or vehicle in vehicle
When, the electronic map data of the precognition environment is obtained by network, subsequently to use.For example, the vehicle by network to this
The management service end request for predicting environment obtains its electronic map data, and and then by network by the electronic map data of acquisition
It is loaded into vehicle.In this case, which is either provided with the communication module of addressable network or the vehicle passes through user
Mobile phone access network to obtain electronic map data.
Alternatively, the electronic map data of the precognition environment can be pre-loaded into vehicle, to perform root in vehicle
Used according to the present invention is exemplary when determining the method for mobile object location in predicting environment.
In step 12, during the mobile object moves, its mobile data is persistently obtained.The vehicle is traveling to and through this
After underground garage entrance, continue on.During the vehicle is persistently advanced, its mobile data is recorded.Mobile data bag
Include displacement distance and moving direction.Record or obtain mobile data mode have it is a variety of, can be according to the concrete condition of mobile object
Depending on.For example, the sensing by being set in vehicle by the displacement distance of the operating range acquisition vehicle of vehicle mileage token record
Device determines the travel direction of vehicle., also can be according to setting in vehicle in the case where obtaining displacement distance by vehicle mileage table
The sensor put determines the operating range of vehicle.It is for example, true according to the sensing data of existing steering angle sensor in vehicle
Determine vehicle and be to continue with straight trip or steering etc.；According to the sensing number of existing wheel speed sensors, acceleration transducer etc. in vehicle
According to, in conjunction with running time can calculate vehicle traveling distance.
In step 13, the image in front of mobile object is obtained by shooting part.Shooting part is during vehicle advance, and one
The image of straight capture vehicle front.Here, " front " should be interpreted broadly, front, the front left side of vehicle traveling can be included
With forward right side, shooting part property in itself and/or the quantity of set shooting part are specifically dependent upon.For example, single take the photograph
The scope that image can be obtained as component is determined by self properties such as the camera lens sizes of the shooting part；If for another example
The diverse location of vehicle front is provided with two cameras or more camera, the then image of the vehicle front obtained, its model
Enclose just relatively wider.
In step 14, the rough of the mobile object is determined by the initial position of mobile object and the mobile data of mobile object
Position.Initial position it is known that in conjunction with vehicle the precognition environment displacement distance and moving direction, it may be determined that it is current to go out vehicle
Rough position.
In step 15, when in step 13, when the image that shooting part obtains includes specific identifier, first from the precognition
The electronic map data of environment obtain the position data of the specific identifier, then the position data based on acquired specific identifier come
The newest rough position in mobile object determined by step 14 is corrected, so as to obtain the accurate location of the mobile object.
This, newest rough position refers to the current rough position of the vehicle in advancing.Specific identifier includes being arranged on the precognition ring
All kinds of marks that can be identified by shooting part in border.For example, in traveling way indicate left right to designator, all kinds of arrows,
All kinds of warning banner symbols（Such as no running, no smoking etc.）, trail guide symbol etc..Even, in some instances, road surface
Intersection can also be used as unique identifier.Can so it say, it is in the precognition environment, can be identified and can reach by shooting part
All marks that its position and other positions are differentiated all can be as specific identifier.When in the image that shooting part obtains
There is specific identifier, in other words when shooting part captures specific identifier, which is identified based on image recognition technology
And the position of the specific identifier is obtained from the electronic map data of the precognition environment.As an example, based on image recognition skill
Art can combine distance and direction, the Yi Jichu that vehicle is run over when identifying the specific identifier and determining the position of the specific identifier
Beginning position, so that the position of the specific identifier is determined from the electronic map data of the precognition environment immediately.Meanwhile in image
In identification process, it can be calculated for the shooting part of shooting and the relative position of the specific identifier, because camera is set
Put on vehicle, therefore the relative position between vehicle and the specific identifier can determine that.With reference to position of the specific identifier in map
Put and the relative position of vehicle and the marker, it may be determined that go out the exact position of vehicle.As an example, the camera can be
Binocular camera（stereo video camera）.It so can determine that camera with clapping using binocular camera except using
The shooting part of object distance is taken the photograph, also can determine the shooting using other cameras and in combination with a computing unit to realize
Component and the function of the relative position of the specific identifier.
Example according to the present invention, the method that mobile object location is determined in environment is predicted as shown in Figure 1, further includes
The position of vehicle is sent to the electronic equipment of user, such as smart mobile phone or tablet computer etc..More particularly according to this
The example of invention, is that the position that vehicle is finally docked in the underground garage is sent to the electronic equipment of user by network.Need
It is noted that herein, user be typically vehicle driver but it is also possible to be pre-arranged other people, such as
Certain passenger of ride-on vehicles etc..
Fig. 2 a to Fig. 2 d are several schematic examples of specific identifier.They can be directly identified in forward march,
It can be identified by modes such as Sign Boards.
Driving to the underground garage of certain megastore with vehicle, the present invention is further explained as an example.It is specific at this
In example, the electronic map data of underground garage has been pre-set in the vehicle, such as is pre-loaded into vehicle mounted guidance use
In electronic map database.Vehicle navigation system find vehicle i.e. will go into the underground garage when, will the vehicle exist
Initial position of the position of the inlet of the underground garage as the vehicle.Vehicle, can be by during underground garage traveling
The mileometer of the vehicle knows the distance that vehicle is run over（In specific calculate, the distance of vehicle distances initial position is to use car
Current mileage number subtracts vehicle corresponding mileage number operating range in initial position in mileometer）.With reference to Fig. 3, in car
When driving to position A, the camera of the vehicle photographs the crossing at b.From the electronic map data of the underground garage really
It is set for the position at crossing at the b for specific identifier.Meanwhile camera during shooting can be determined from the image data of the camera
With the relative position between b.Thus, the position at crossing at the vehicle distances b can be determined.In conjunction with the first of the vehicle
Beginning position, and the mobile data recorded in vehicle travel process can determine vehicle in the current of the underground garage
Position.
According to the present invention, it is additionally provided in the method navigated in precognition environment.It is exemplary according to the present invention to navigate
Method, it is carried out based on providing method that mobile object location is determined in predict environment according to the present invention.Tool
For body, electronic map that can be based on the current vehicle position determined according to the method shown in Fig. 1 and the precognition environment
To provide forward path navigation to vehicle driver.Here, the destination to be gone to of vehicle（That is, vehicle will go to the precognition ring
The specific location in border）, can be pre-set by user according to its demand.In some instances, destination also can be by performing according to this
The in-vehicle electronic system of the method for the navigation of invention provides.For example, what if vehicle drove into is underground garage, what vehicle to be gone
Place should be the parking stall vacated.In this case, the electronic system of vehicle can be arranged to the management with the underground garage
System communicates, and based on this, the electronic system of the vehicle may know which place has empty parking space, so as to be gone to as the vehicle
Destination.
The example of the underground garage that certain megastore is driven to continuing with vehicle mentioned above is introduced according to this hair
The bright method navigated in environment is predicted.In the explanation with reference to Fig. 3, it has been determined that go out the current position of vehicle at A,
According to setting, vehicle will drive to location of C.The electronic map data of underground garage based on loading and the current location of vehicle,
Guiding vehicle driver continues to keep straight on.When shooting part photographs c positions, by according to the position at the similar crossing at b into one
Step accurately determines out the position of vehicle, and it is curved further to guide vehicle to turn right, until driving at C.
After using method as schematically shown in Figure 1, even if driving in the place of no satellite-signal, the position of vehicle is also
It is to be determined efficiently.And on the basis of it effectively can determine position, the electronic map data in the place can be combined to car
Traveling in the place is navigated.
Because that can use existing sensor in vehicle, method as shown in Figure 1 is, it can be achieved that be software, without increasing for vehicle
Add more hardware.But the present invention is also not excluded for realizing with reference in a manner of with software the side shown in Fig. 1 by hardware or hardware
Method.
Fig. 4 is the structure diagram for the system for determining mobile object location in environment is predicted according to the present invention.This is
System includes shooting part 50, first module 52, second unit 54, third unit 56, the 4th unit 58 and the 5th unit 59.
Shooting part 50, which is arranged in the mobile object, to be used to obtain the image in front of the mobile object travel direction.First
Unit 52 is used to record initial position of the mobile object in the precognition environment.Second unit 54 is used to move in the mobile object
During dynamic, the mobile data of the mobile object is persistently obtained.Third unit 56 is used for true by the initial position and the mobile data
The rough position of the fixed mobile object.4th unit 58 is used for when acquired image includes specific identifier, from the precognition
The electronic map data of environment obtains the position data of the specific identifier.5th unit 59 includes specific in acquired image
The relative position of the shooting part and the specific identifier is determined during mark.4th unit 58 is also configured to based on acquired spy
The position data known and identified relative position are calibrated to correct the newest rough position of the mobile object to be somebody's turn to do
The accurate location of mobile object.
Illustratively, which is vehicle, which is underground garage.The precognition environment is driven in vehicle
When, 52 registration of vehicle of first module is in the position of the precognition environment.Specifically, the navigation according to Vehicular navigation system, in car
When driving to the entrance of the underground garage, first module 52 is registration of vehicle in the position of the entrance, as the vehicle
Initial position.Vehicle enters and continues to travel in the underground garage, the mobile data of 54 registration of vehicle of second unit.Mobile number
Include displacement distance and moving direction without limitation according to example.Some examples according to the present invention, second unit 54 include
Vehicle mileage table, the displacement distance of its registration of vehicle.Second unit 54 further includes the one or more sensors set in vehicle,
The travel direction of vehicle is determined according to the sensing data of the one or more sensors, and not according to vehicle mileage table
In the case of recording displacement distance, the operating range of vehicle can be determined according to the one or more sensors.This or more
A sensor is, for example, existing steering angle sensor, wheel speed sensors etc. in vehicle.Pass through the sensing number of steering angle sensor
According to can determine that vehicle be to continue with straight trip or turn to etc.；According to existing wheel speed sensors and/or acceleration transducer in vehicle
Deng sensing data, in conjunction with running time can calculate vehicle traveling distance.Shooting part 50 is in vehicle travel process
Shoot the image of vehicle front.Shooting part 50 can be one or more, the shooting part class of Fig. 1 descriptions above in conjunction
Seemingly.Third unit 56 is determined the rough position of the vehicle by the initial position of vehicle and the mobile data of vehicle.Initial position
It is known that in conjunction with displacement distance and moving direction, it may be determined that go out the current rough position of vehicle.4th unit 58 is in shooting part
50 when photographing specific identifier, obtains the position data of the specific identifier from the electronic map data of the precognition environment first.Make
For example, the 4th unit 58 can when identifying the specific identifier based on image recognition technology and determining the position of the specific identifier
With reference to the distance that vehicle is run over and direction and initial position, so that immediately from the electronic map data of the precognition environment
Determine the position of the specific identifier.5th unit 59 is used to determine described take the photograph when acquired image includes specific identifier
As the relative position of component and the specific identifier.Shooting part 50 is arranged on vehicle, accordingly, it is determined that going out shooting part and the spy
The relative position known is calibrated that is, the relative position of vehicle and the specific identifier is determined.4th unit 58 is also configured to base
The newest rough position of vehicle is corrected in acquired position data and identified relative position, so as to obtain the vehicle
Accurate location.Here, newest rough position refers to the current rough position of vehicle in advancing.As an example, the shooting
Component 50 can be binocular camera, in this way, Unit the 5th can be a part for the binocular camera.
Any one in first module 52, second unit 54, third unit 56, the 4th unit 58 and the 5th unit 59
Or can all be realized in a manner of software and/or hardware, it is attached in the existing electronic system of vehicle, the existing electronic system
For example, navigation system of vehicle etc..
In addition, example according to the present invention, should determine that the system of mobile object location may also include position in environment is predicted
Sending module is put, the position of vehicle to be sent in the mobile phone of user or other electronic equipments.
Some examples according to the present invention, also provide control device, for determining the position of mobile object in environment is predicted
Put, which includes receiving unit and computing unit.Specifically, receiving unit receives the mobile object in precognition environment
In initial position message, receive obtained the mobile object movement during mobile data, receive obtained by shooting part
The mobile object travel direction in front of image.The computing unit is arranged to determine the movement by initial position and mobile data
The rough position of object, when acquired image includes specific identifier, obtains from the electronic map data of the precognition environment
The position data of the specific identifier and the relative position for determining the shooting part and the specific identifier, and based on acquired
The position data of specific identifier, identified relative position correct the newest rough position of the mobile object to obtain the shifting
The accurate location of dynamic object.It is appreciated that shooting part communication link of the control device with being used for obtaining the mobile object image
Connect, the system or equipment with the first knowledge position for determining the mobile object location（Such as navigation system or equipment）Communication link
Connect, communicated to connect with storing the storage part of the precognition ambient electronic map datum.
In the case where the mobile object is vehicle and the precognition environment is underground garage, which can be applied to this
Vehicle and determine the vehicle in the position of underground garage.The navigation system of the control device and vehicle communicates to connect, and is used as and shows
, the electronic map data of the underground garage has been already loaded into the navigation system.The receiving unit of the control device is received and led
The vehicle of boat system transmission is in initial position of the position of garage entrance as the vehicle.Vehicle garage exercise during,
The receiving unit for example obtains the mobile data of vehicle from the mileometer of vehicle or receives what is transmitted by sensor in setting vehicle
Data and the mobile data for calculating vehicle.Computing unit determines vehicle in garage according to the initial position and the mobile data
Rough position.When acquired image includes specific identifier, electronic map data of the computing unit from the precognition environment
Obtain the position data of the specific identifier and determine the relative position of the shooting part and the specific identifier, and based on being obtained
The position data of the specific identifier taken, identified relative position correct the newest rough position of the mobile object to obtain
The accurate location of the mobile object.
The control device can with hardware and software be implemented in combination with or it is implemented in software.Illustratively, can will realize receive with
The software module of computing function is combined with the control unit in the mobile object or combined with a single electronic control part
So as to fulfill the control device.
In the present invention, refer to carry out data transmission between A and B when describing A and B communication connections, or pass through electricity
Sub-circuit is connected or transmitted by the wired or wireless communication based on cable/optical cable.
The present invention also provides navigation system, it include shown in Fig. 4 determine mobile object location in environment is predicted be
System, and in the case that system shown in Fig. 4 determines current vehicle position, come with reference to the electronic map data of the precognition environment
Navigate.Alternatively, exemplary navigation system, its execution are described in environment is predicted above in association with Fig. 1 according to the present invention
The method for determining mobile object location, and the electronic map data for combining the precognition environment navigates.Alternatively, according to this hair
Bright exemplary navigation system, it performs the method as described above navigated in environment is predicted, and combines the precognition environment
Electronic map data navigates.In some examples, which can use above-described control device.
After using system as schematically shown in Figure 4, even if vehicle is driven in the place of no satellite model, its position is also
It is to be determined efficiently.On the basis of it effectively can determine vehicle location, the electronic map data in the place can be combined
Navigate to traveling of the vehicle in the place.
Although having combined each example shown in the drawings, the invention has been described, it will be understood by those skilled in the art that each above
Example can be used alone and can also be combined with each other.
Claims (13)
1. a kind of method that mobile object location is determined in environment is predicted, wherein, which includes shooting part, the party
Method includes：
Record initial position of the mobile object in the precognition environment；
During the mobile object moves, the mobile data of the mobile object is persistently obtained；
Image in front of mobile object is obtained by the shooting part；
The rough position of the mobile object is determined by the initial position and the mobile data；
When acquired image includes specific identifier, the specific identifier is obtained from the electronic map data of the precognition environment
Position data and the relative position for determining the shooting part and the specific identifier, and based on acquired position data with it is identified
Relative position corrects the newest rough position of the mobile object to obtain the accurate location of the mobile object.
2. the method for mobile object location is determined in environment is predicted as claimed in claim 1, wherein, the precognition environment
Electronic map data is the mobile object when entering the precognition environment, by network from distally obtaining.
3. the method for mobile object location is determined in environment is predicted as claimed in claim 1, wherein, the precognition environment
Electronic map data is pre-loaded in the electronic system of the mobile object.
4. the method for mobile object location is determined in environment is predicted as claimed in claim 1, wherein, the specific identifier bag
Include the mark that can be identified by shooting part being arranged in the precognition environment.
5. the method that mobile object location is determined in environment is predicted as described in any one in claim 1 to 4, wherein,
The mobile object is vehicle.
6. the method for mobile object location is determined in environment is predicted as claimed in claim 5, wherein, the mobile data bag
Include displacement distance and direction.
7. as claimed in claim 6 in environment is predicted determine mobile object location method, wherein, the mobile data by
The speed data that the mileometer of vehicle is obtained or obtained based on the sensor set in vehicle calculates acquisition, and the direction is by setting
Steering angle sensor obtains in the car.
8. a kind of method in precognition environment for mobile object navigation, the described method includes：
The current position of mobile object is determined according to the method as described in any one in claim 1 to 7；
Based on the current position of the electronic map data, the mobile object and destination road is provided for the mobile object
Line.
9. it is being as claimed in claim 8 the method that mobile object is navigated in precognition environment, wherein, the destination is by user
After the mobile object obtains the electronic map data, set based on the map, or be based on by the electronic system of the mobile object
The electronic map data automatically provides.
10. a kind of system that mobile object location is determined in environment is predicted, the system include：
Shooting part, it, which is arranged in the mobile object, is used to obtain the image in front of the mobile object；
First module, for recording initial position of the mobile object in the precognition environment；
Second unit, for during the mobile object moves, persistently obtaining the mobile data of the mobile object；
Third unit, for determining the rough position of the mobile object by the initial position and the mobile data；
Unit the 4th, for when acquired image includes specific identifier, being obtained from the electronic map data of the precognition environment
Take the position data of the specific identifier；
Unit the 5th, for determining the shooting part and the specific identifier when acquired image includes specific identifier
Relative position；And
Unit the 4th is also configured to for the position data based on acquired specific identifier and identified opposite position
Put to correct the newest rough position of the mobile object to obtain the accurate location of the mobile object.
11. determining the system of mobile object location in environment is predicted as claimed in claim 10, the mobile object is car
, the second unit includes one or more sensors set in the mileometer and/or vehicle of the vehicle.
12. a kind of control device, for determining the position of mobile object in environment is predicted, which includes：
Receiving unit, is moved for receiving initial position message of the mobile object in the precognition environment, receiving the mobile object
The mobile data that is obtained during dynamic, receive image in front of the mobile object obtained by shooting part；
Computing unit, it is arranged to the rough position that the mobile object is determined by the initial position message and the mobile data
Put, when acquired image includes specific identifier, the specific identifier is obtained from the electronic map data of the precognition environment
Position data and the relative position for determining the shooting part and the specific identifier, and the position based on acquired specific identifier
Data and identified relative position are put to correct the newest rough position of the mobile object to obtain the standard of the mobile object
True position.
13. a kind of system in precognition environment for mobile object navigation, it includes predicting as described in claim 10 or 11
The system that mobile object location is determined in environment；Or it performs and is predicting environment as described in any one in claim 1 to 7
In determine the method for mobile object location to determine the mobile object current location, and combine the electronic map number of the precognition environment
According to come for mobile object navigate；Or perform as claimed in claim 8 or 9 in the method that precognition environment is mobile object navigation；
Or use control device as claimed in claim 12.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610933624.8A CN108007460A (en) | 2016-11-01 | 2016-11-01 | The method and system of mobile object location are determined in environment is predicted |
| DE102017218204.0A DE102017218204A1 (en) | 2016-11-01 | 2017-10-12 | Method and system for determining the position of a moving object within a known environment |
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| CN201610933624.8A CN108007460A (en) | 2016-11-01 | 2016-11-01 | The method and system of mobile object location are determined in environment is predicted |
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| CN113344966B (en) * | 2021-06-18 | 2023-09-22 | 北京星航科创技术有限公司 | Target motion state correction method of motion camera |
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| DE102017218204A1 (en) | 2018-05-03 |
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