CN108663674A - Vehicle positioning method, automobile, storage medium and positioning system - Google Patents
Vehicle positioning method, automobile, storage medium and positioning system Download PDFInfo
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- CN108663674A CN108663674A CN201810133702.5A CN201810133702A CN108663674A CN 108663674 A CN108663674 A CN 108663674A CN 201810133702 A CN201810133702 A CN 201810133702A CN 108663674 A CN108663674 A CN 108663674A
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- information
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- feedback information
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of vehicle positioning method, automobile, storage medium and positioning systems, wherein this method includes：The broadcast message of connection is established in periodicity sending request；The first feedback information of the first calibration point in response to broadcast message is received, and obtains the first position information for including in the first feedback information；Using first position information as the quasi- location information of itself, and positioned on the offline e map to prestore according to quasi- location information；Obtain the movable information of own motion sensor；The location information on offline e map is calibrated according to movable information.The present invention is positioned according to first position information in the offline e figure to prestore, and the location information on offline e map is calibrated according to movable information, to obtain the quasi- location information of vehicle in parking lot, the position of vehicle is quickly confirmed according to the quasi- location information convenient for user, to both improve the searching rate of vehicle, the turn around time of vehicle is also shortened.
Description
Technical field
The present invention relates to vehicle positioning technology field more particularly to a kind of vehicle positioning method, automobile, storage mediums and fixed
Position system.
Background technology
With the continuous improvement of people's living standards, the personal owning amount multiplication of automobile, corresponding park construction scale
Also increasing, the problem of this just brings one client is enabled to have a bad headache.When client returns to parking lot, due to parking lot floor
More, space is big, so that customer is difficult to find that vehicle.And the operator in parking lot also is intended to client can be helped to find vehicle as early as possible to stop
The user satisfaction of customer is improved in the region put, meanwhile, accelerate the Car Turnover in parking lot, improve parking lot utilization rate and
Operating income.
Invention content
The purpose of the present invention is to provide a kind of vehicle positioning method, automobile, storage medium and positioning systems, to solve to stop
The technical problems such as the hunting speed of vehicle is slow in parking lot and parking stall turn around time is grown.
To solve the above-mentioned problems, the present invention provides a kind of vehicle positioning method, be applied to vehicle in parking lot into
Row positioning, vehicle are installed with ultraviolet light R-T unit, and the calibration point of several ultraviolet light R-T units of installing is laid in parking lot,
The vehicle positioning method includes the following steps：
The broadcast message of connection is established in periodicity sending request；
The first feedback information of the first calibration point in response to broadcast message is received, and obtains in the first feedback information and includes
First position information；
Using first position information as the quasi- location information of itself, and in the offline e to prestore according to quasi- location information
It is positioned on figure；
Obtain the movable information of own motion sensor；
The location information on offline e map is calibrated according to movable information.
It is further improved as the present invention, the location information on offline e map is calibrated according to movable information
Step, including：
Analyzed according to movable information itself is to be in motion state in halted state；
When analyzing itself according to movable information and being in halted state, the location information on offline e map is not carried out
Calibration.
It is further improved as the present invention, it itself is to be in movement shape in halted state to be analyzed according to movable information
After the step of state, further include：
When analyzing itself according to movable information and being kept in motion, the second feedback information of the first calibration point is continued to
And/or second calibration point third feedback information；
When only receiving the second feedback information of the first calibration point, the first light intensity for including in the first feedback information is obtained
Information, and obtain the second intensity signal for including in the second feedback information；
Judge whether the second intensity signal is more than the first intensity signal；
When the second intensity signal is more than the first intensity signal, school is not carried out to the location information on offline e map
It is accurate；
When the second intensity signal is less than or equal to the first intensity signal, according to movable information on offline e map
Location information is calibrated.
It is further improved as the present invention, continues to the second feedback information and/or the second calibration point of the first calibration point
Third feedback information the step of after, further include：
When the third feedback information of the second feedback information and the second calibration point that receive the first punctuate, it is anti-to obtain first
The first intensity signal for including in feedforward information obtains the second intensity signal for including in the second feedback information and obtains third
The third intensity signal for including in feedback information；
It is not right when third intensity signal is less than the second intensity signal, and the second intensity signal is more than the first intensity signal
Location information on offline e map is calibrated；
When third intensity signal be less than the second intensity signal, and the second intensity signal be less than or equal to the first intensity signal
When, the location information on offline e map is calibrated according to movable information.
It is further improved as the present invention, obtains the first intensity signal for including in the first feedback information, obtains second instead
The second intensity signal for including in feedforward information and the step of obtain the third intensity signal for including in third feedback information it
Afterwards, further include：
When third intensity signal is greater than or equal to the second intensity signal, include in the second feedback information first is obtained
Confidence ceases, and obtains the second position information for including in third feedback information；
The location information on offline e map is carried out according to first position information, second position information and movable information
Calibration.
It is further improved as the present invention, continues to the second feedback information and/or the second calibration point of the first calibration point
Third feedback information the step of after, further include：
When only receiving the third feedback information of the second calibration point, the second position for including in third feedback information is obtained
Information；
The location information on offline e map is carried out according to positioning position information, second position information and movable information
Calibration.
Be further improved as the present invention, periodicity sending request establish connection broadcast message the step of, including：
It is established and is communicated to connect by network and exterior terminal；
When receiving the positioning instruction of exterior terminal transmission, the broadcast message of connection is established in periodicity sending request.
To solve the above-mentioned problems, the present invention also provides a kind of automobiles comprising processor, memory, ultraviolet light are received
Transmitting apparatus and motion sensor, processor couple memory, ultraviolet light R-T unit, motion sensor, are stored on memory
The computer program that can be run on a processor；
When processor executes computer program, step in above-mentioned vehicle positioning method is realized.
To solve the above-mentioned problems, the present invention also provides a kind of storage mediums, are stored thereon with computer program, calculate
When machine program is executed by processor, step in above-mentioned vehicle positioning method is realized.
To solve the above-mentioned problems, the present invention also provides a kind of vehicle positioning systems comprising at least two calibration points,
Mobile terminal and above-mentioned automobile, calibration point are the ultraviolet light R-T unit laid in parking lot, and automobile is received equipped with ultraviolet light
Transmitting apparatus and motion sensor carry out letter between calibration point, mobile terminal, the ultraviolet light R-T unit of automobile, motion sensor
Breath interaction, to realize step in above-mentioned vehicle positioning method.
The present invention according to the first position information in first the first feedback information of calibration point the offline e figure to prestore into
Row positioning, and the location information on offline e map is calibrated according to movable information, to obtain vehicle in parking lot
Quasi- location information quickly confirms the position of vehicle convenient for user according to the quasi- location information, to both improve the searching of vehicle
Rate also shortens the turn around time of vehicle.In addition, the ultraviolet light R-T unit on vehicle in a manner of atmospheric scattering to four sides eight
Square emitting broadcasting message causes calibration point that can also receive the broadcast message under the obstruction of barrier, fixed to improve this
The stability of position method.
Description of the drawings
Fig. 1 is the circuit theory schematic diagram of vehicle positioning system one embodiment of the present invention；
Fig. 2 is the high-level schematic functional block diagram of vehicle location program one embodiment of the present invention；
Fig. 3 is the high-level schematic functional block diagram of position correction module one embodiment in Fig. 2 vehicle location programs；
Fig. 4 is the high-level schematic functional block diagram of broadcast message sending module one embodiment in Fig. 2 vehicle location programs；
Fig. 5 is the flow diagram of vehicle positioning method one embodiment of the present invention；
Fig. 6 is the flow diagram of broadcast message transmission flow one embodiment in vehicle positioning method of the present invention；
Fig. 7 is the flow diagram of position correction flow one embodiment in vehicle positioning method of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used to limit the present invention.
It should be noted that the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and cannot
It is interpreted as indicating or implying its relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include at least one of the features.In addition, the skill between each embodiment
Art scheme can be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when technical solution
Will be understood that the combination of this technical solution is not present in conjunction with there is conflicting or cannot achieve when, also not the present invention claims
Protection domain within.
As shown in fig.1, Fig. 1 is the circuit theory schematic diagram of vehicle positioning system provided by one embodiment of the present invention.
In the embodiment of the present application, which may include, but be not limited to, can be mutual by wired mode or wireless mode
At least two calibration points 10, mobile terminal 11 and the automobile 12 of communication connection, wherein calibration point 10 is the purple laid in parking lot
Outer light R-T unit, automobile 12 are equipped with processor 120, memory 121, ultraviolet light R-T unit 122 and motion sensor
123, which is stored with the vehicle location program 1200 that can be run on processor 120.It should be pointed out that Fig. 1 is only
Show the vehicle positioning system 1 with component 10-12, it should be understood that be not required for implementing shown component, it can
With the more or fewer components of the implementation of replacement.
Wherein, memory 121 includes at least a type of readable storage medium storing program for executing, and readable storage medium storing program for executing includes flash memory, hard
Disk, multimedia card, card-type memory (for example, SD or DX memories etc.), random access storage device (RAM), static random-access
Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), may be programmed read-only storage at read-only memory (ROM)
Device (PROM), magnetic storage, disk, CD etc..In some embodiments, memory 121 can be that the inside of automobile 12 is deposited
Storage unit, for example, automobile 12 itself hard disk or memory.In further embodiments, memory 121 can also be on automobile 12
External memory equipment, such as the plug-in type hard disk that is equipped on automobile 12, intelligent memory card (Smart Media Card, SMC),
Secure digital (Secure Digital, SD) blocks, flash card (Flash Card) etc..Certainly, memory 121 can also both include
The internal storage unit of itself of automobile 12 also includes its External memory equipment.In the present embodiment, memory 121 is commonly used in storage
It is installed on the operating system and types of applications software of automobile 12, such as the program code etc. of vehicle location program 1200.In addition, depositing
Reservoir 121 can be also used for temporarily storing the Various types of data that has exported or will export.
Processor 120 can be in some embodiments central processing unit (Central Processing Unit, CPU),
Controller, microcontroller, microprocessor or other data processing chips.The processor 120 is total commonly used in control automobile 12
Gymnastics is made, such as executes and carry out information exchange with calibration point 10 or communicate relevant control and processing etc..In the present embodiment, place
Program code or processing data of the reason device 120 for being stored in run memory 121, such as operation vehicle location program 1200
Deng.
Motion sensor 123 includes but not limited to include：3 axis gyroscopes, 3 axis accelerometers and 3 axis geomagnetic sensors.It should
For motion sensor 123 commonly used in obtaining the movable information of automobile 12, which includes the direction of motion and move distance.
In the embodiment of the present application, when being installed in automobile 12 and having run vehicle location program 1200, ultraviolet light transmitting-receiving
The broadcast message of connection is established in the request of 122 periodicity sending of device.Then the first calibration point 10 in response to broadcast message is received
The first feedback information, and obtain the first feedback information in include first position information, then using first position information be used as oneself
The quasi- location information of body, and positioned on the offline e map to prestore according to quasi- location information, finally, obtain itself fortune
The movable information of dynamic sensor 123, and the location information on offline e map is calibrated according to movable information, it is real in this way
The positioning of vehicle in parking lot is showed.
So far, the hardware configuration and function of the relevant device of the embodiment of the present invention have been described in detail.In the following, will be based on
Above-mentioned relevant device promotes each embodiment of the present invention.
First, the present invention provides a kind of vehicle location programs 1200.
As shown in fig.2, being the high-level schematic functional block diagram of 1200 one embodiment of vehicle location program of the present invention.
In the embodiment of the present application, which includes a series of storage and the meter on memory 121
Calculation machine program instruction, when computer program instructions are executed by processor 120, the vehicle that various embodiments of the present invention may be implemented is fixed
Bit manipulation.In some embodiments, the specific operation realized based on the computer program instructions each section, vehicle location journey
Sequence 1200 can be divided into one or more modules.Such as：In figure 3, vehicle location program 1200 can be divided into extensively
Broadcast message transmission module 1201, feedback information receiving module 1202, position locating module 1203, movable information acquisition module 1204
With position correction module 1205.
Broadcast the message sending module 1201, and the broadcast message of connection is established for periodicity sending request.
Specifically, be spaced preset time period (such as：10S), the broadcast message that connection is established in request is sent.
Feedback information receiving module 1202, the first feedback letter for receiving the first calibration point in response to broadcast message
Breath, and obtain the first position information for including in the first feedback information.
In the embodiment of the present application, first position information includes the first physical address information and the first number of plies information, as
One citing：The Shenzhen streets the XX mansions XX XX, the 1 buildings constitute a first position information.
Position locating module 1203 is used for using first position information as the quasi- location information of itself, and is set according to level
Information is positioned on the offline e map to prestore.
In the embodiment of the present application, each layer of underground parking corresponds to an offline e figure to prestore.It is lifted as one
Example, after the corresponding offline e figure to prestore of the first number of plies acquisition of information, the first physical address information is being prestored
Offline e figure on positioned.
Movable information acquisition module 1204, the movable information for obtaining own motion sensor.
In the embodiment of the present application, which includes direction of motion information and move distance information.
Position correction module 1205, for being calibrated to the location information on offline e map according to movable information.
The present embodiment is according to the first position information in first the first feedback information of calibration point in the offline e figure to prestore
It is positioned, and the location information on offline e map is calibrated according to movable information, to obtain vehicle in parking lot
Quasi- location information, the position of vehicle is quickly confirmed according to the quasi- location information convenient for user, to both improving seeking for vehicle
Rate is looked for, the turn around time of vehicle is also shortened.In addition, the ultraviolet light R-T unit on vehicle in a manner of atmospheric scattering to four sides
All directions emitting broadcasting message causes calibration point that can also receive the broadcast message under the obstruction of barrier, to improve this
The stability of localization method.
On the basis of the above embodiments, in other embodiment, referring to Fig. 3, which further includes shape
State analytic unit 12050, location information maintenance unit 12051, feedback information receiving unit 12052, intensity signal acquiring unit
12053, light intensity judging unit 12054, location calibration unit 12055 and location information acquiring unit 12056.
State analysis unit 12050 itself is to be in movement in halted state for being analyzed according to movable information
State.
In the embodiment of the present application, when the move distance in movable information is 0, then show that automobile is in halted state；
When the move distance in movable information is non-zero, then show that automobile is kept in motion.
Location information maintenance unit 12051, for when analyzing itself according to movable information and being in halted state, not to from
Location information on line electronic map is calibrated.
Specifically, mobile terminal is sent to through network for required location information with the location information on offline e map,
So that user quickly knows according to the required location information position of vehicle.
Feedback information receiving unit 12052, for when analyzing itself according to movable information and being kept in motion, after continued access
Receive the second feedback information of the first calibration point and/or the third feedback information of the second calibration point.
Intensity signal acquiring unit 12053 obtains for when only receiving the second feedback information of the first calibration point
The first intensity signal for including in one feedback information, and obtain the second intensity signal for including in the second feedback information.
Specifically, when only receiving the second feedback information of the first calibration point, i.e., automobile is still in the first calibration point
Within radiation scope, therefore, according to the light intensity of the light intensity in previous place and current location, analysis automobile is separate
First calibration point is also proximate to the first calibration point.
Light intensity judging unit 12054, for judging whether the second intensity signal is more than the first intensity signal.
Location information maintenance unit 12051 is used for when the second intensity signal is more than the first intensity signal, not to offline electricity
Location information on sub- map is calibrated.
Specifically, when the second intensity signal is more than the first intensity signal, automobile then utilizes the closer to the first calibration point
One location information as itself quasi- location information it is more accurate.
Location calibration unit 12055 is used for when the second intensity signal is less than or equal to the first intensity signal, according to movement
Information calibrates the location information on offline e map.
Specifically, when the second intensity signal is less than or equal to the first intensity signal, automobile is far from the first calibration point, then root
The location information on offline e map is calibrated according to movable information.It illustrates as one, it is assumed that in the information of first position
The first physical address information be P (2,5), movable information be (- 0.5, -1), then final position be P ' (1.5,4).
Intensity signal acquiring unit 12053 is additionally operable to when the second feedback information for receiving the first punctuate and the second calibration
When the third feedback information of point, the first intensity signal for including in the first feedback information is obtained, obtains and is wrapped in the second feedback information
The third intensity signal for including in the second intensity signal and acquisition third feedback information that contain.
Location information maintenance unit 12051 is additionally operable to be less than the second intensity signal, and the second light intensity when third intensity signal
When information is more than the first intensity signal, the location information on offline e map is not calibrated.
Specifically, when the third feedback information of the second feedback information and the second calibration point that receive the first punctuate, i.e.,
Automobile is in the radiation scope of the first calibration point and the radiation scope intersecting ranges of the second calibration point.Further, when third light
Strong information is less than the second intensity signal, i.e. closer first calibration point of automobile.Meanwhile second intensity signal more than the first light intensity believe
Breath, then illustrate automobile closer to the first calibration point, therefore, using first position information as the quasi- location information of itself more subject to
Really.
Location calibration unit 12055 is additionally operable to be less than the second intensity signal, and the second intensity signal when third intensity signal
When less than or equal to the first intensity signal, the location information on offline e map is calibrated according to movable information.
Specifically, when third intensity signal is less than the second intensity signal, i.e. closer first calibration point of automobile.Meanwhile the
Two intensity signals are less than or equal to the first intensity signal, then illustrate automobile far from the first calibration point, close to the second calibration point, because
This, may have certain error using first position information as the quasi- location information of itself, so, according to movable information to from
Location information on line electronic map is calibrated, and more accurate positioning is conducive to.
Location information acquiring unit 12056, for when third intensity signal is greater than or equal to the second intensity signal, obtaining
The first position information for including in second feedback information, and obtain the second position information for including in third feedback information.
Location calibration unit 12055 is used for according to first position information, second position information and movable information to offline electricity
Location information on sub- map is calibrated.
In the embodiment of the present application, when third intensity signal is greater than or equal to the second intensity signal, illustrate that automobile is current
It is to need to calibrate the location information on offline e map certainly therefore closer to the second calibration point.It is lifted as one
Example, it is assumed that the first physical address information in the first calibration point first position information is P1 (1,3), the second calibration point second position
The second physical address information in information is P2 (2,5), then midpoint is (1.5,4), and then movable information is (- 0.5, -1), then
Position after calibration is P ' (1,3).
Location information acquiring unit 12056 obtains for when only receiving the third feedback information of the second calibration point
The second position information for including in three feedback informations.
In the embodiment of the present application, when only receiving the third feedback information of the second calibration point, then automobile has been illustrated
It is driven out to other than the radiation scope of the first calibration point, and enters within the radiation scope of the second calibration point.
Location calibration unit 12055 is used for according to location information, second position information and movable information to offline e
Location information on figure is calibrated.
In the embodiment of the present application, according to location information, second position information and movable information on offline e map
Location information calibrated, similar with the mode of foregoing description, therefore, details are not described herein.
On the basis of the above embodiments, in other embodiment, referring to Fig. 4, which includes
Communication connection establishment unit 12011 and broadcast message transmission unit 12012.
Wherein, communication connection establishment unit 12011 are communicated to connect for being established with exterior terminal by network.
In the embodiment of the present application, which can be mobile phone, laptop, (individual digital helps PDA
Reason), the movable equipment of PAD (tablet computer) etc..
Broadcast the message transmission unit 12012, for when receive exterior terminal transmission positioning instruction when, periodicity sending
The broadcast message of connection is established in request.
When the present embodiment only receives positioning instruction, the broadcast message of connection is established in just meeting periodicity sending request, is kept away
Non- required time section is exempted from and has sent broadcast message, the electricity consume of ultraviolet light R-T unit has been reduced, to extend ultraviolet light
R-T unit uses duration.
Fig. 5 is the flow diagram for the vehicle positioning method that first embodiment of the invention provides.In the embodiment of the present application
In, which is positioned applied to vehicle in parking lot, and vehicle is installed with ultraviolet light R-T unit, parking lot
Inside it is laid with the calibration point of several ultraviolet light R-T units of installing.Specifically, which includes the following steps：
The broadcast message of connection is established in step S1, periodicity sending request.
On the basis of the above embodiments, other are in embodiment, and referring to Fig. 6, step S1 includes：
Step S10 is established by network and exterior terminal and is communicated to connect.
In the embodiment of the present application, which can be mobile phone, laptop, (individual digital helps PDA
Reason), the movable equipment of PAD (tablet computer) etc..
Step S11, when receiving the positioning instruction of exterior terminal transmission, the broadcast of connection is established in periodicity sending request
Message.
Specifically, when receiving the positioning instruction of exterior terminal transmission, interval preset time period (such as：10S) send
The broadcast message of connection is established in request.
When the present embodiment only receives positioning instruction, the broadcast message of connection is established in just meeting periodicity sending request, is kept away
Non- required time section is exempted from and has sent broadcast message, the electricity consume of ultraviolet light R-T unit has been reduced, to extend ultraviolet light
R-T unit uses duration.
Step S2 receives the first feedback information of the first calibration point in response to broadcast message, and obtains the first feedback letter
The first position information for including in breath.
In the embodiment of the present application, which includes the first physical address information and the first number of plies information.Make
It illustrates for one：The Shenzhen streets the XX mansions XX XX, the 1 buildings constitute a first position information.The present embodiment passes through physical address
The combination of information and number of plies information more quickly knows position of the vehicle in parking lot convenient for user, further improves vehicle
Searching rate, also further reduce the turn around time of vehicle.
Step S3, using first position information as the quasi- location information of itself, and according to quasi- location information prestore from
It is positioned on line electronic map.
In the embodiment of the present application, each layer of underground parking corresponds to an offline e figure to prestore.It is lifted as one
Example, after the corresponding offline e figure to prestore of the first number of plies acquisition of information, the first physical address information is being prestored
Offline e figure on positioned.
The present embodiment is positioned according to quasi- location information in the offline e map to prestore, and the positioning of acquisition is more smart
Really, positioning accuracy is improved.
Step S4 obtains the movable information of own motion sensor.
In the embodiment of the present application, which includes direction of motion information and move distance information.
Step S5 calibrates the location information on offline e map according to movable information.
On the basis of the above embodiments, in other embodiment, referring to Fig. 7, step S5 includes：
Step S50, it itself is to be in motion state in halted state to be analyzed according to movable information.When according to movement
When information analysis itself is in halted state, step S51 is executed.When analyzing itself according to movable information and being kept in motion,
Execute step S52.
In the embodiment of the present application, when the move distance in movable information is 0, then show that automobile is in halted state；
When the move distance in movable information is non-zero, then show that automobile is kept in motion.
Step S51 does not calibrate the location information on offline e map.
Step S52 continues to the second feedback information of the first calibration point and/or the third feedback letter of the second calibration point
Breath.When only receiving the second feedback information of the first calibration point, step S53 is executed.When receive the first punctuate second anti-
When the third feedback information of feedforward information and the second calibration point, step S56 is executed.When the third for only receiving the second calibration point is fed back
When information, step S60 is executed.
Step S53 obtains the first intensity signal for including in the first feedback information, and obtains and wrapped in the second feedback information
The second intensity signal contained.
Specifically, when only receiving the second feedback information of the first calibration point, i.e., automobile is still in the first calibration point
Within radiation scope, therefore, according to the light intensity of the light intensity in previous place and current location, analysis automobile is separate
First calibration point is also proximate to the first calibration point.
Step S54, judges whether the second intensity signal is more than the first intensity signal.When the second intensity signal is more than the first light
When strong information, step S51 is executed.When the second intensity signal is less than or equal to the first intensity signal, step S55 is executed.
Specifically, when the second intensity signal is more than the first intensity signal, automobile then utilizes the closer to the first calibration point
One location information as itself quasi- location information it is more accurate.
Step S55 calibrates the location information on offline e map according to movable information.
Specifically, when the second intensity signal is less than or equal to the first intensity signal, automobile is far from the first calibration point, then root
The location information on offline e map is calibrated according to movable information.It illustrates as one, it is assumed that in the information of first position
The first physical address information be P (2,5), movable information be (- 0.5, -1), then final position be P ' (1.5,4).
Step S56, obtain the first feedback information in include the first intensity signal, obtain the second feedback information in include
The third intensity signal for including in second intensity signal and acquisition third feedback information.
Step S57, judges whether third intensity signal is greater than or equal to the second intensity signal.When third intensity signal is more than
Or when equal to the second intensity signal, step S58 is executed.When third intensity signal is less than the second intensity signal, execution step S54.
Step S58 obtains the first position information for including in the second feedback information, and obtains and wrapped in third feedback information
The second position information contained.
Step S59, according to first position information, second position information and movable information to the positioning on offline e map
Information is calibrated.
In the embodiment of the present application, when third intensity signal is greater than or equal to the second intensity signal, illustrate that automobile is current
It is to need to calibrate the location information on offline e map certainly therefore closer to the second calibration point.It is lifted as one
Example, it is assumed that the first physical address information in the first calibration point first position information is P1 (1,3), the second calibration point second position
The second physical address information in information is P2 (2,5), then midpoint is (1.5,4), and then movable information is (- 0.5, -1), then
Position after calibration is P ' (1,3).
Further, when the third feedback information of the second feedback information and the second calibration point that receive the first punctuate,
I.e. automobile is in the radiation scope of the first calibration point and the radiation scope intersecting ranges of the second calibration point.When third intensity signal
Less than the second intensity signal, i.e. closer first calibration point of automobile.Meanwhile second intensity signal be more than the first intensity signal, then
Illustrate automobile closer to the first calibration point, it is therefore, more accurate as the quasi- location information of itself using first position information, from
Without being calibrated to the location information on offline e map.
In addition, when third intensity signal is less than the second intensity signal, i.e. closer first calibration point of automobile.Meanwhile second
Intensity signal is less than or equal to the first intensity signal, then illustrates automobile far from the first calibration point, close to the second calibration point, therefore,
There may be certain error using first position information as the quasi- location information of itself, so, according to movable information to offline
Location information on electronic map is calibrated, and more accurate positioning is conducive to.
Step S60 obtains the second position information for including in third feedback information.After the completion of execution, step S59 is executed.
In the embodiment of the present application, when only receiving the third feedback information of the second calibration point, then automobile has been illustrated
It is driven out to other than the radiation scope of the first calibration point, and enters within the radiation scope of the second calibration point.Therefore, it is necessary to according to
One location information, second position information and movable information calibrate the location information on offline e map, are retouched with above-mentioned
The mode stated is similar, and therefore, details are not described herein.It should be noted that the first position information in the present embodiment can pass through
First feedback information obtains.
The present embodiment is according to the first position information in first the first feedback information of calibration point in the offline e figure to prestore
It is positioned, and the location information on offline e map is calibrated according to movable information, to obtain vehicle in parking lot
Quasi- location information, the position of vehicle is quickly confirmed according to the quasi- location information convenient for user, to both improving seeking for vehicle
Rate is looked for, the turn around time of vehicle is also shortened.In addition, the ultraviolet light R-T unit on vehicle in a manner of atmospheric scattering to four sides
All directions emitting broadcasting message causes calibration point that can also receive the broadcast message under the obstruction of barrier, to improve this
The stability of localization method.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may realize that lists described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, depends on the specific application and design constraint of technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
Scope of the present application.
In embodiment provided herein, it should be understood that disclosed mobile terminal and method can pass through it
Its mode is realized.For example, mobile terminal embodiment described above is only schematical, for example, module or unit
It divides, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling or direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communication connects, can be electrical, machinery or other forms.
In addition, each functional unit in each embodiment of the application can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
The embodiment of the present application also provides a kind of storage mediums, and for storing computer program, it includes for executing sheet
Apply for the program data designed by above-mentioned vehicle positioning method embodiment.By executing the computer journey stored in the storage medium
Vehicle positioning method provided by the present application may be implemented in sequence.
If integrated module/unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, the application realizes above-described embodiment side
All or part of flow in method can also instruct relevant hardware to complete by computer program, and computer program can
It is stored in a computer readable storage medium, the computer program is when being executed by processor, it can be achieved that above-mentioned each method
The step of embodiment.Wherein, computer program includes computer program code, and computer program code can be source code shape
Formula, object identification code form, executable file or certain intermediate forms etc..Computer-readable medium may include：Meter can be carried
Any entity or device of calculation machine program code, recording medium, USB flash disk, mobile hard disk, magnetic disc, CD, computer storage, only
Memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electricity is read to carry
Wave signal, telecommunication signal and software distribution medium etc..It should be noted that the content that computer-readable medium includes can root
Increase and decrease appropriate is carried out according to legislation in jurisdiction and the requirement of patent practice, such as in certain jurisdictions, according to vertical
Method and patent practice, computer-readable medium is including being not electric carrier signal and telecommunication signal.
The specific implementation mode of invention is described in detail above, but it is only used as example, the present invention is not intended to limit
With specific embodiments described above.For a person skilled in the art, any equivalent modifications that the invention is carried out
Or substitute also all among scope of the invention, therefore, in the case where not departing from the spirit and principles in the present invention range made by it is impartial
Transformation and modification, improvement etc., all should be contained within the scope of the invention.
Claims (10)
1. a kind of vehicle positioning method is positioned applied to vehicle in parking lot, the vehicle is installed with ultraviolet light transmitting-receiving
Device is laid with the calibration points of several ultraviolet light R-T units of installing in the parking lot, which is characterized in that the method includes
Following steps：
The broadcast message of connection is established in periodicity sending request；
The first feedback information of the first calibration point in response to the broadcast message is received, and is obtained in first feedback information
Including first position information；
Using the first position information as the quasi- location information of itself, and according to the quasi- location information in the offline electricity to prestore
It is positioned on sub- map；
Obtain the movable information of own motion sensor；
The location information on the offline e map is calibrated according to the movable information.
2. vehicle positioning method according to claim 1, which is characterized in that it is described according to the movable information to it is described from
The step of location information on line electronic map is calibrated, including：
Analyzed according to the movable information itself is to be in motion state in halted state；
When analyzing itself according to the movable information and being in halted state, not to the location information on the offline e map
It is calibrated.
3. vehicle positioning method according to claim 2, which is characterized in that described to analyze itself according to the movable information
Be the step of being in motion state in halted state after, further include：
When analyzing itself according to the movable information and being kept in motion, the second feedback information of the first calibration point is continued to
And/or second calibration point third feedback information；
When only receiving the second feedback information of the first calibration point, the first light intensity for including in first feedback information is obtained
Information, and obtain the second intensity signal for including in second feedback information；
Judge whether second intensity signal is more than first intensity signal；
When second intensity signal is more than first intensity signal, not to the location information on the offline e map
It is calibrated；
When second intensity signal is less than or equal to first intensity signal, according to the movable information to described offline
Location information on electronic map is calibrated.
4. vehicle positioning method according to claim 3, which is characterized in that described to continue to the second of the first calibration point
After the step of third feedback information of feedback information and/or the second calibration point, further include：
When the third feedback information of the second feedback information and second calibration point that receive first punctuate, institute is obtained
State the first intensity signal for including in the first feedback information, obtain the second intensity signal for including in second feedback information,
And obtain the third intensity signal for including in the third feedback information；
When third intensity signal be less than second intensity signal, and second intensity signal be more than first intensity signal
When, the location information on the offline e map is not calibrated；
When the third intensity signal is less than second intensity signal, and second intensity signal is less than or equal to described the
When one intensity signal, the location information on the offline e map is calibrated according to the movable information.
5. vehicle positioning method according to claim 4, which is characterized in that described obtain is wrapped in first feedback information
The first intensity signal for containing obtains the second intensity signal for including in second feedback information and to obtain the third anti-
After the step of third intensity signal for including in feedforward information, further include：
When third intensity signal is greater than or equal to second intensity signal, the institute for including in second feedback information is obtained
First position information is stated, and obtains the second position information for including in the third feedback information；
According to the first position information, the second position information and the movable information on the offline e map
Location information is calibrated.
6. vehicle positioning method according to claim 3, which is characterized in that described to continue to the second of the first calibration point
After the step of third feedback information of feedback information and/or the second calibration point, further include：
When only receiving the third feedback information of the second calibration point, the second position for including in the third feedback information is obtained
Information；
According to the location information, the second position information and the movable information to the positioning on the offline e map
Information is calibrated.
7. vehicle positioning method according to claim 1, which is characterized in that connection is established in the periodicity sending request
The step of broadcast message, including：
It is established and is communicated to connect by network and exterior terminal；
When receiving the positioning instruction that the exterior terminal is sent, the broadcast message of connection is established in periodicity sending request.
8. a kind of automobile, which is characterized in that it includes processor, memory, ultraviolet light R-T unit and motion sensor, described
Processor couples the memory, the ultraviolet light R-T unit, the motion sensor, and being stored on the memory can be
The computer program run on the processor；
When the processor executes the computer program, realizes and walked in the vehicle positioning method described in one of claim 1-7
Suddenly.
9. a kind of storage medium, which is characterized in that be stored thereon with computer program, the computer program is executed by processor
When, realize step in the vehicle positioning method described in one of claim 1-7.
10. a kind of vehicle positioning system, which is characterized in that it includes at least two calibration points, mobile terminal and claim 8 institute
The automobile stated, the calibration point are the ultraviolet light R-T unit laid in the parking lot, and the automobile is received equipped with ultraviolet light
Transmitting apparatus and motion sensor, the calibration point, the mobile terminal, the ultraviolet light R-T unit of the automobile, the movement
Information exchange is carried out between sensor, to realize step in the vehicle positioning method described in one of claim 1-7.
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| CN201810133702.5A CN108663674B (en) | 2018-02-08 | 2018-02-08 | Vehicle positioning method, automobile, storage medium and positioning system |
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| CN201810133702.5A CN108663674B (en) | 2018-02-08 | 2018-02-08 | Vehicle positioning method, automobile, storage medium and positioning system |
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| CN108663674B (en) | 2022-06-14 |
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