CN111352142A - Indoor parking positioning method and device, electronic equipment and medium - Google Patents
Indoor parking positioning method and device, electronic equipment and medium Download PDFInfo
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- CN111352142A CN111352142A CN201811584859.6A CN201811584859A CN111352142A CN 111352142 A CN111352142 A CN 111352142A CN 201811584859 A CN201811584859 A CN 201811584859A CN 111352142 A CN111352142 A CN 111352142A
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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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
- G01C21/10—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
- G01C21/165—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 combined with non-inertial navigation instruments
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
Abstract
The embodiment of the invention discloses an indoor parking positioning method, an indoor parking positioning device, electronic equipment and a medium, wherein the method comprises the steps of determining the real-time position of a vehicle by using an inertial navigation device and acquiring the running state of the vehicle; analyzing road information corresponding to the real-time position in indoor map data of the parking lot; and positioning the vehicle according to the running state, the real-time position and the road information. The embodiment of the invention solves the problem of higher vehicle positioning cost of the indoor parking lot in the prior art, and reduces the positioning cost of the indoor parking lot on the basis of realizing accurate indoor parking positioning.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle navigation, in particular to an indoor parking positioning method, an indoor parking positioning device, electronic equipment and a medium.
Background
With the continuous development of the automobile industry, automobile retail prices are lower and lower, automobile brands are more and more, automobiles are no longer luxury goods for a small part of people, and are gradually becoming mobility aids for more and more families. The construction of parking lots is developed, and more large commercial buildings in cities build matched indoor parking lots to ensure that vehicles can have sufficient parking lots, and the indoor parking lots are generally multi-storey. When people drive vehicles into these indoor parking lots, a problem that follows is: how to determine the specific location of the vehicle currently in the parking lot.
In order to solve the above problems, currently, indoor positioning technologies commonly used in the market include a base station positioning technology, a Wifi positioning technology, a Radio Frequency Identification (RFID) positioning technology, a bluetooth positioning technology, and the like. However, these technologies rely more or less on additional hardware facilities, for example, the base station location technology requires the arrangement of sites in the parking garage that transmit location sources for location, the bluetooth location technology requires the installation of bluetooth monitoring and detection equipment in the parking garage, and these additional hardware facilities require a high cost investment.
Therefore, how to achieve accurate positioning in a parking lot and reduce positioning cost still remains a technical problem to be solved at present.
Disclosure of Invention
The embodiment of the invention provides an indoor parking positioning method, an indoor parking positioning device, electronic equipment and a medium, and aims to solve the problem that in the prior art, the vehicle positioning cost of an indoor parking lot is high.
In a first aspect, an embodiment of the present invention provides an indoor parking positioning method, where the method includes:
determining the real-time position of the vehicle by using an inertial navigation device, and acquiring the running state of the vehicle;
analyzing road information corresponding to the real-time position in indoor map data of the parking lot;
and positioning the vehicle according to the running state, the real-time position and the road information.
Optionally, the operating conditions include an uphill condition and a downhill condition of the vehicle.
Optionally, the positioning the vehicle according to the operating state, the real-time position, and the road information includes:
if the running state of the vehicle is a downhill state, matching the vehicle on a first connecting road associated with the road information, wherein the first connecting road is used for connecting a current floor to which the road information belongs and a first target floor, and the floor number of the first target floor is smaller than the current floor number and has a difference value of 1 with the current floor number;
and if the running state of the vehicle is an uphill state, matching the vehicle on a second connecting road associated with the road information, wherein the second connecting road is used for connecting the current floor to which the road information belongs and a second target floor, and the floor number of the second target floor is larger than the current floor number and has a difference value of 1 with the current floor number.
Optionally, the positioning the vehicle according to the operating state, the real-time position, and the road information further includes:
and determining the floor where the vehicle is located after the operation state is changed according to the change times of the uphill state and the downhill state experienced by the vehicle.
Optionally, if the analyzed road information is an entrance road of the parking lot, before the vehicle is located according to the operating state, the real-time location, and the road information, the method further includes:
and switching the positioning mode of the vehicle from outdoor positioning to indoor positioning of the parking lot according to the real-time position of the vehicle.
Optionally, switching the positioning mode of the vehicle from outdoor positioning to indoor positioning of the parking lot according to the real-time position of the vehicle includes:
switching the positioning mode of the vehicle from outdoor positioning to indoor positioning of the parking lot if the following conditions are simultaneously met:
no GNSS positioning signals can be acquired at the real-time location of the vehicle;
determining that a real-time location of the vehicle is within a coverage area of the indoor map data;
determining that a distance of the real-time location of the vehicle from an entrance road of the parking lot is less than or equal to a first distance threshold;
determining that a direction difference formed by the driving direction of the vehicle and an entrance road of the parking lot is less than or equal to an angle threshold.
Optionally, if the analyzed road information is an exit road of the parking lot, after the vehicle is located according to the operating state, the real-time location, and the road information, the method further includes:
and switching the positioning mode of the vehicle from indoor positioning to outdoor positioning of the parking lot according to the real-time position of the vehicle.
Optionally, switching the positioning mode of the vehicle from the indoor positioning to the outdoor positioning of the parking lot according to the real-time position of the vehicle includes:
switching the positioning mode of the vehicle from indoor positioning to outdoor positioning of the parking lot if the following conditions are simultaneously met:
acquiring a GNSS positioning signal at a real-time location of the vehicle;
determining that the real-time location of the vehicle is outside a coverage area of the indoor map data and that the distance of the real-time location of the vehicle from the coverage area is greater than or equal to a second distance threshold;
determining that the vehicle exits the coverage area via the exit road.
Optionally, the determining the real-time position of the vehicle by using the inertial navigation device includes:
determining an initial position of the vehicle based on positioning data transmitted by a GNSS device;
acquiring operation parameters determined by a sensor in the vehicle operation process;
and determining the real-time position of the vehicle by using the inertial navigation device according to the initial position and the operation parameters.
In a second aspect, an embodiment of the present invention further provides an indoor parking positioning device, where the device includes:
the running state and position determining module is used for determining the real-time position of the vehicle by using the inertial navigation device and acquiring the running state of the vehicle;
the indoor map analysis module is used for analyzing road information corresponding to the real-time position in indoor map data of the parking lot;
and the parking positioning module is used for positioning the vehicle according to the running state, the real-time position and the road information.
Optionally, the vehicle operating status acquired by the operating status and position determining module includes an uphill status and a downhill status of the vehicle.
Optionally, the parking positioning module includes:
the first floor positioning unit is used for matching the vehicle on a first connecting road associated with the road information if the running state of the vehicle is a downhill state, wherein the first connecting road is used for connecting a current floor to which the road information belongs and a first target floor, and the floor number of the first target floor is smaller than the current floor number and has a difference value of 1 with the current floor number;
and the second floor positioning unit is used for matching the vehicle on a second connecting road associated with the road information if the running state of the vehicle is an ascending state, wherein the second connecting road is used for connecting the current floor to which the road information belongs and a second target floor, and the floor number of the second target floor is larger than the current floor number and has a difference value of 1 with the current floor number.
Optionally, the parking positioning module further includes:
and the floor determining unit is used for determining the floor where the vehicle is located after the running state is changed according to the change times of the uphill state and the downhill state of the vehicle.
Optionally, if the road information analyzed by the indoor map analysis module is an entrance road of the parking lot, the apparatus further includes:
and the first positioning mode switching module is used for switching the positioning mode of the vehicle from outdoor positioning to indoor positioning of the parking lot according to the real-time position of the vehicle.
Optionally, the first positioning mode switching module is specifically configured to:
switching the positioning mode of the vehicle from outdoor positioning to indoor positioning of the parking lot if the following conditions are simultaneously met:
no GNSS positioning signals can be acquired at the real-time location of the vehicle;
determining that a real-time location of the vehicle is within a coverage area of the indoor map data;
determining that a distance of the real-time location of the vehicle from an entrance road of the parking lot is less than or equal to a first distance threshold;
determining that a direction difference formed by the driving direction of the vehicle and an entrance road of the parking lot is less than or equal to an angle threshold.
Optionally, if the road information analyzed by the indoor map analysis module is an exit road of the parking lot, the apparatus further includes:
and the second positioning mode switching module is used for switching the positioning mode of the vehicle from indoor positioning to outdoor positioning of the parking lot according to the real-time position of the vehicle.
Optionally, the second positioning mode switching module is specifically configured to:
switching the positioning mode of the vehicle from indoor positioning to outdoor positioning of the parking lot if the following conditions are simultaneously met:
acquiring a GNSS positioning signal at a real-time location of the vehicle;
determining that the real-time location of the vehicle is outside a coverage area of the indoor map data and that the distance of the real-time location of the vehicle from the coverage area is greater than or equal to a second distance threshold;
determining that the vehicle exits the coverage area via the exit road.
Optionally, the operation state and position determining module includes:
a real-time position determination unit for determining a real-time position of the vehicle using the inertial navigation device;
an operating state acquiring unit for acquiring an operating state of the vehicle;
wherein the real-time position determination unit comprises:
an initial position determining subunit, configured to determine an initial position of the vehicle based on positioning data transmitted by the GNSS device;
the operation parameter acquisition subunit is used for acquiring operation parameters determined by the sensor in the vehicle operation process;
and the real-time position determining subunit is used for determining the real-time position of the vehicle by utilizing the inertial navigation device according to the initial position and the operation parameters.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement an indoor parking position method as in any embodiment of the invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the indoor parking positioning method according to any embodiment of the present invention.
The embodiment of the invention realizes the positioning of the vehicle by determining the real-time position of the vehicle by using the inertial navigation device, acquiring the running state of the vehicle and combining the road information which is analyzed from the indoor map data of the parking lot and corresponds to the real-time position of the vehicle. In the positioning process of the indoor parking lot, the positioning is realized based on the existing functional devices related to positioning on the vehicles, and additional hardware facilities do not need to be deployed in the parking lot, so that the embodiment of the invention solves the problem of higher vehicle positioning cost in the existing indoor parking lot, and reduces the positioning cost of the indoor parking lot on the basis of realizing accurate indoor parking positioning.
Drawings
Fig. 1 is a flowchart of an indoor parking positioning method according to an embodiment of the present invention;
fig. 2 is a flowchart of an indoor parking positioning method according to a second embodiment of the present invention;
fig. 3 is a flowchart of an indoor parking positioning method according to a third embodiment of the present invention;
fig. 4 is a flowchart of an indoor parking positioning method according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an indoor parking positioning device according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of an indoor parking positioning method according to an embodiment of the present invention, where the present embodiment is applicable to positioning a vehicle in an indoor parking lot, and the method may be executed by an indoor parking positioning device, which may be implemented in a software and/or hardware manner and may be integrated on an electronic device with a positioning function.
As shown in fig. 1, the indoor parking positioning method provided in this embodiment may include:
and S110, determining the real-time position of the vehicle by using the inertial navigation device, and acquiring the running state of the vehicle.
The running states of the vehicle in this embodiment include a state in which the vehicle is moving horizontally, an uphill state, and a downhill state. Specifically, the driving direction and the driving state of the vehicle may be determined based on vehicle operation signals, such as a steering signal and an acceleration signal, collected by a sensor during the operation of the vehicle, and the vehicle operation signals are calculated and processed by a signal processing module of the sensor. Of course, the indoor parking position determining device may also acquire the running state of the vehicle by using an inertial navigation device. In addition, the vehicle running signals collected by the sensors also comprise speed signals, and the running speed of the vehicle can be determined through signal processing. The sensor transmits the determined vehicle running speed and acceleration to the inertial navigation device, and the inertial navigation device determines a real-time position corresponding to the vehicle running state through integral calculation. In the process of positioning the indoor parking, the real-time position may be a position outside the actual area of the indoor parking lot or a position inside the indoor parking lot as the vehicle runs.
Optionally, determining the real-time position of the vehicle using an inertial navigation device, comprising:
determining an initial position of the vehicle based on positioning data transmitted by the GNSS device;
acquiring operation parameters determined by a sensor in the vehicle operation process;
and determining the real-time position of the vehicle by using the inertial navigation device according to the initial position and the operation parameters.
Since an indoor parking lot has a shielding effect on a GNSS (Global Navigation Satellite System) positioning signal, a vehicle cannot be positioned indoors based on the GNSS, and therefore, in a parking lot area without the GNSS positioning signal, positioning is mainly performed based on an inertial Navigation device.
When the vehicle has not entered the indoor parking lot, the vehicle position determined based on the positioning data transmitted by the GNSS device may be used as the initial position of the indoor positioning. The positioning data transmitted by the GNSS device includes valid GNSS positioning data obtained by resolving GNSS antenna signals. The running parameters of the vehicle are the running direction, the running speed, the acceleration and the like of the vehicle determined based on the vehicle running signals collected by the sensors. The inertial navigation device takes the initial position, the driving direction, the running speed and the acceleration of the vehicle as input parameters, and determines the real-time position of the vehicle through time integral derivation.
And S120, analyzing road information corresponding to the real-time position in the indoor map data of the parking lot.
The indoor map data of the parking lot includes detailed configuration information of the indoor parking lot, such as an entrance road, an exit road, a floor internal road, an upper and lower floor connection road, a floor number of the road, a coverage area of the parking lot, and gradient information of the upper and lower floor connection roads. The indoor map data can be stored in the electronic map data storage device of the vehicle in advance, and when the indoor parking positioning is carried out, the indoor map data can be analyzed and called; the indoor map data may be transmitted from the map server to an indoor parking position determining device on the vehicle by using network communication when it is detected that the vehicle is to make an indoor parking. According to the real-time position of the vehicle, corresponding road information is analyzed from the indoor map data, namely the road information of the parking lot close to the position of the vehicle is determined. In this case, the parking lot road whose distance from the real-time position of the vehicle is less than or equal to the target distance threshold, which may be adaptively set, may be determined as the corresponding road information.
And S130, positioning the vehicle according to the running state, the real-time position and the road information.
The real-time position of the vehicle is displayed on an indoor map, corresponding road information is displayed, and accurate indoor positioning and navigation can be realized by combining the running state of the vehicle. The positioning result includes whether the vehicle is about to enter the indoor parking lot, whether the vehicle is about to exit the indoor parking lot, whether the vehicle is inside the indoor parking lot, a specific floor of the parking lot, and the like. The positioning result can be visually displayed in real time to facilitate the viewing of the driver, for example, the positioning result is displayed on the screens of the vehicle-mounted device and the mobile terminal through data transmission, and specifically, the positioning result may include display screens of a vehicle navigation machine, a PND (Portable navigation device), a mobile phone, an ipad, and the like. In addition, the positioning result can also be subjected to voice broadcast by using a voice output tool, or the positioning result is sent to the mobile terminal in an instant message reminding mode.
For example, if the corresponding road information analyzed according to the real-time position of the vehicle is an exit road or an entrance road of the parking lot, and if the vehicle happens to be located on the exit road or the entrance road, and the vehicle is in a running state, for example, the vehicle is in an uphill state when passing through the exit road, and the vehicle is in a downhill state when passing through the entrance road, it may be determined whether the vehicle is about to enter the indoor parking lot and whether the vehicle is about to exit the indoor parking lot.
In an example two, the corresponding road information analyzed according to the real-time position of the vehicle is a certain road inside the parking lot, and the vehicle can be determined to be inside the parking lot by combining the horizontal running state of the vehicle. Then, the specific floor where the vehicle is located is further determined by combining the change of the running state of the vehicle.
According to the technical scheme, the real-time position of the vehicle is determined by the inertial navigation device, the running state of the vehicle is obtained, and the vehicle is positioned by combining the road information which is analyzed from the indoor map data of the parking lot and corresponds to the real-time position of the vehicle. In the positioning process of the indoor parking lot, the positioning is realized based on the existing functional devices related to positioning on the vehicles, and additional positioning hardware facilities do not need to be arranged in the parking lot, so that the embodiment of the invention solves the problem of higher vehicle positioning cost in the existing indoor parking lot, and reduces the positioning cost of the indoor parking lot on the basis of realizing accurate indoor parking positioning.
Example two
Fig. 2 is a flowchart of an indoor parking positioning method according to a second embodiment of the present invention, which is further expanded and optimized based on the above-mentioned embodiments. As shown in fig. 2, the method may include:
s210, determining the real-time position of the vehicle by using the inertial navigation device, and acquiring the running state of the vehicle, wherein the running state comprises an uphill state and a downhill state of the vehicle.
And S220, analyzing road information corresponding to the real-time position in the indoor map data of the parking lot.
The embodiment determines whether the vehicle performs floor switching according to the change of the vehicle running state in the case that the vehicle has entered the indoor parking lot. After analyzing the road information corresponding to the real-time position of the vehicle in the indoor map data, if the running state of the vehicle is a downhill state, S230 is performed; if the running state of the vehicle is the uphill state, S240 is executed.
And S230, if the running state of the vehicle is a downhill state, matching the vehicle on a first connecting road associated with the road information, wherein the first connecting road is used for connecting a current floor to which the road information belongs and a first target floor, and the floor number of the first target floor is smaller than the current floor number and has a difference value of 1 with the current floor number.
For example, when a vehicle enters an indoor parking lot, the road information analyzed according to the real-time position of the vehicle is an entrance road, the floor number of the entrance road is 0, and the floor is used as the initial floor of the vehicle. When the vehicle continues to run in the parking lot, the acquired running state of the vehicle is a downhill state, and meanwhile the inertial navigation device judges that the vehicle has a downhill action, a first connecting road associated with the currently analyzed entrance road is searched, and the vehicle is matched on the first connecting road, which indicates that the vehicle is to be switched from an initial floor to a negative floor (the floor number is-1).
And S240, if the running state of the vehicle is an uphill state, matching the vehicle on a second connecting road associated with the road information, wherein the second connecting road is used for connecting a current floor to which the road information belongs and a second target floor, and the floor number of the second target floor is larger than the current floor number and has a difference value of 1 with the current floor number.
For example, when a vehicle enters an indoor parking lot, corresponding road information is analyzed based on the real-time position of the vehicle, and the floor number of an initial floor where the vehicle is located is determined to be 0. When the vehicle continues to run, the obtained running state of the vehicle is an uphill state, and meanwhile the inertial navigation device determines that the vehicle has an uphill action, a second connecting road associated with the currently analyzed road information is searched, and the vehicle is matched on the second connecting road, which indicates that the vehicle is switched from an initial floor to a floor with a floor number of + 1.
And if the vehicle running state is a horizontal running state, namely the vehicle does not move uphill or downhill, maintaining the vehicle to run on the road corresponding to the current floor, and not switching the floors.
Optionally, the method further includes:
and determining the floor where the vehicle is located after the operation state is changed according to the change times of the uphill state and the downhill state experienced by the vehicle.
If the vehicle continuously performs the actions of ascending and descending for a plurality of times, determining the floor where the vehicle is finally positioned according to the change times of the ascending state and the descending state on the basis of the initial floor of the indoor parking lot where the vehicle just enters. For example, if the floor number of the initial floor where the vehicle enters the indoor parking lot is 0 and the running state of the vehicle continuously changes in the ascending state 2 times during the subsequent running, it can be determined that the final parking floor of the vehicle is a floor whose floor number is + 2.
The technical scheme of this embodiment utilizes the indoor map data of inertial navigation device and indoor parking area, combines the real-time position of vehicle and the running state of going up and down a slope, confirms whether the vehicle carries out the switching of floor indoor, and the location process does not rely on the location hardware facility of parking area additional arrangement completely, has solved the higher problem of vehicle positioning cost in the current indoor parking area, has not only realized the effect of accurate positioning vehicle floor, has reduced the positioning cost in indoor parking area moreover.
EXAMPLE III
Fig. 3 is a flowchart of an indoor parking positioning method according to a third embodiment of the present invention, which is further expanded and optimized based on the above-mentioned embodiments. As shown in fig. 3, the method may include:
and S310, determining the real-time position of the vehicle by using the inertial navigation device, and acquiring the running state of the vehicle.
And S320, analyzing road information corresponding to the real-time position in the indoor map data of the parking lot, wherein the road information is an entrance road of the parking lot.
The present embodiment addresses a situation where a vehicle has not yet entered an indoor parking lot, but is about to enter a parking lot area. Specifically, based on the current real-time position of the vehicle, the corresponding road information analyzed in the indoor map data is the parking lot entrance road closer to the current position of the vehicle, and the vehicle may be determined to enter the indoor parking lot via the entrance road in combination with the driving direction of the vehicle.
And S330, switching the positioning mode of the vehicle from outdoor positioning to indoor positioning of the parking lot according to the real-time position of the vehicle. After the positioning mode is switched, the vehicle is positioned by adopting an indoor positioning mode.
Because the indoor parking lot has a shielding effect on GNSS positioning signals, the vehicle cannot be positioned indoors based on GNSS, therefore, in the process of entering the indoor parking lot, proper positioning mode switching time needs to be set, and the outdoor positioning mode mainly based on GNSS is switched to the indoor positioning mode based on the inertial navigation device, so that the accurate realization of indoor positioning is ensured.
Optionally, switching the positioning mode of the vehicle from outdoor positioning to indoor positioning of the parking lot according to the real-time position of the vehicle, including:
and if the following conditions are met, switching the positioning mode of the vehicle from outdoor positioning to indoor positioning of the parking lot:
the GNSS positioning signal cannot be acquired at the real-time position of the vehicle;
determining that a real-time location of the vehicle is within a coverage area of the indoor map data;
determining that a distance between a real-time location of the vehicle and an entry road of the parking lot is less than or equal to a first distance threshold;
and determining that the direction difference formed by the driving direction of the vehicle and the entrance road of the parking lot is smaller than or equal to an angle threshold value, wherein the direction difference is an included angle formed by the driving direction of the vehicle and the direction of the entrance road.
For example, in the process of driving the vehicle toward the indoor parking lot, the GNSS positioning signal cannot be acquired at the current real-time position of the vehicle, that is, the GNSS positioning signal is invalid; and determining that the current real-time position of the vehicle is within the coverage range of the indoor map data based on a distance detection technology, wherein the distance between the real-time position and the entrance road of the parking lot is smaller than or equal to a first distance threshold, for example, the distance between the current real-time position of the vehicle and the starting point of the entrance road is 15 meters and is smaller than the first distance threshold by 20 meters; meanwhile, if it is determined that the direction difference formed by the vehicle driving direction and the entrance road of the parking lot is smaller than or equal to the angle threshold value based on the angle measurement technology, for example, the direction difference between the vehicle driving direction and the entrance road, that is, the included angle is 17 degrees and is smaller than the angle threshold value 20 degrees, the positioning mode of the vehicle is switched from the outdoor positioning to the indoor positioning of the parking lot at the current real-time position.
Here, the coverage area of the indoor map data may be a rectangular area or a circular area, etc. larger than the actual parking area. The first distance threshold and the angle threshold can be adaptively set and can be corrected according to the historical statistical rule of the switching opportunity of the positioning mode. Since the entrance road has a certain length, an arbitrary point position on the entrance road may be selected as a reference point for distance calculation, for example, a start point, an end point, or a middle point of the entrance road is used as the reference point, a map distance between the reference point and the real-time position of the vehicle is converted into an actual geographic distance based on a map scale, and the actual geographic distance is used as a distance between the real-time position of the vehicle and the entrance road of the parking lot. Regarding the direction difference between the vehicle driving direction and the entrance road of the parking lot, the entrance road may be fitted into a straight line in the map, then the straight line where the real-time position of the vehicle is located is determined according to the vehicle driving direction, and finally the direction angle between the two straight lines is calculated, and the direction difference between the vehicle driving direction and the entrance road of the parking lot is obtained by combining the map scale. Furthermore, the distance of the vehicle real-time position from the entrance road of the parking lot and the corresponding direction difference can also be calculated from the vector line segment representation of the entrance road in the map data based on the mathematical relationship of points and line segments and straight lines and line segments.
And S340, positioning the vehicle according to the running state, the real-time position and the road information.
According to the technical scheme, in the process that the vehicle drives to the indoor parking lot, the positioning mode of the vehicle is switched from outdoor positioning to indoor positioning according to the real-time position of the vehicle, so that vehicle positioning is realized in the indoor positioning mode, and accurate realization of vehicle positioning in the indoor parking lot is guaranteed; and the indoor positioning process does not depend on additional positioning hardware facilities arranged in the parking lot, so that the problem of high vehicle positioning cost in the existing indoor parking lot is solved, and the positioning cost of the indoor parking lot is reduced.
Example four
Fig. 4 is a flowchart of an indoor parking positioning method according to a fourth embodiment of the present invention, which is further expanded and optimized based on the foregoing embodiments. As shown in fig. 4, the method may include:
and S410, determining the real-time position of the vehicle by using the inertial navigation device, and acquiring the running state of the vehicle.
And S420, analyzing road information corresponding to the real-time position in the indoor map data of the parking lot, wherein the road information is an exit road of the parking lot.
The present embodiment addresses a case where the vehicle is about to exit an indoor parking lot area, that is, a coverage of indoor map data. Specifically, based on the current real-time position of the vehicle, the corresponding road information analyzed in the indoor map data is an exit road of the parking lot close to the current position of the vehicle, and it can be determined that the vehicle is going to exit the indoor parking lot via the exit road in combination with the driving direction of the vehicle.
And S430, positioning the vehicle according to the running state, the real-time position and the road information.
And S440, switching the positioning mode of the vehicle from indoor positioning to outdoor positioning of the parking lot according to the real-time position of the vehicle.
The real-time position of the vehicle is constantly changing as the vehicle is operated. When it is determined that the vehicle has exited the area of the indoor parking lot based on the positioning result, the positioning mode of the vehicle may be switched from indoor positioning to outdoor positioning.
Optionally, switching the positioning mode of the vehicle from the indoor positioning to the outdoor positioning of the parking lot according to the real-time position of the vehicle, includes:
and if the following conditions are met, switching the positioning mode of the vehicle from indoor positioning to outdoor positioning of the parking lot:
acquiring a GNSS positioning signal at a real-time position of a vehicle;
determining that the real-time location of the vehicle is outside a coverage area of the indoor map data and that a distance of the real-time location of the vehicle from the coverage area is greater than or equal to a second distance threshold;
it is determined that the vehicle is exiting the coverage via the exit road.
The second distance threshold value can be adaptively set and can be corrected according to the historical statistical rule of the switching time of the positioning mode.
For example, in the process of driving the vehicle out of the parking lot area, the GNSS positioning signal may be acquired at the current real-time position of the vehicle, that is, the GNSS positioning signal is recovered; meanwhile, the vehicle drives out of the coverage area of the indoor map data through the exit road of the parking lot, and the vehicle leaves the coverage area for a certain distance, for example, the distance between the current real-time position of the vehicle and the coverage area is 35 meters and is greater than the second distance threshold value of 30 meters, so that the positioning mode of the vehicle is switched from indoor positioning to outdoor positioning, the flexible switching of the positioning mode of the vehicle is realized, and the accuracy of positioning the vehicle outside the parking lot is also ensured.
Wherein the distance of the real-time location of the vehicle from the coverage of the indoor map data may be determined based on a reference point selected within the coverage. For example, the center point of the coverage area may be selected, or an edge point of the coverage area may be determined as a reference point along the driving direction of the vehicle out of the coverage area, and the distance between the reference point and the current vehicle position may be used as the distance between the real-time position of the vehicle and the coverage area.
According to the technical scheme, the vehicle is positioned based on the inertial navigation device and indoor map data, and when the vehicle is determined to be driven out of an indoor parking lot area according to a positioning result, the positioning mode of the vehicle is switched from indoor positioning to outdoor positioning, so that the flexible switching of the positioning mode of the vehicle is realized; and the indoor positioning process does not depend on additional positioning hardware facilities arranged in the parking lot, so that the problem of high vehicle positioning cost in the existing indoor parking lot is solved, and the positioning cost of the indoor parking lot is reduced.
EXAMPLE five
Fig. 5 is a schematic structural diagram of an indoor parking positioning device according to a fifth embodiment of the present invention, which is applicable to positioning a vehicle in an indoor parking lot. The device can be realized in a software and/or hardware mode and can be integrated on the electronic equipment with the positioning function.
As shown in fig. 5, the indoor parking positioning apparatus provided in this embodiment may include an operation status and position determining module 510, an indoor map parsing module 520, and a parking positioning module 530, where:
an operation status and position determination module 510, configured to determine a real-time position of the vehicle by using an inertial navigation device, and obtain an operation status of the vehicle;
an indoor map parsing module 520 for parsing road information corresponding to the real-time location from indoor map data in the parking lot;
and a parking positioning module 530 for positioning the vehicle according to the operation state, the real-time position and the road information.
Optionally, the vehicle operating status obtained by the operating status and position determining module 510 includes an uphill status and a downhill status of the vehicle.
Optionally, the parking positioning module 530 includes:
the first floor positioning unit is used for matching the vehicle on a first connecting road associated with the road information if the running state of the vehicle is a downhill state, wherein the first connecting road is used for connecting a current floor to which the road information belongs and a first target floor, and the floor number of the first target floor is smaller than the current floor number and has a difference value of 1 with the current floor number;
and the second floor positioning unit is used for matching the vehicle on a second connecting road associated with the road information if the running state of the vehicle is an ascending state, wherein the second connecting road is used for connecting the current floor to which the road information belongs and a second target floor, and the floor number of the second target floor is larger than the current floor number and has a difference value of 1 with the current floor number.
Optionally, the parking positioning module 530 further includes:
and the floor determining unit is used for determining the floor where the vehicle is located after the running state is changed according to the change times of the uphill state and the downhill state of the vehicle.
Optionally, if the road information analyzed by the indoor map analysis module 520 is an entrance road of the parking lot, the apparatus further includes:
the first positioning mode switching module is used for switching the positioning mode of the vehicle from outdoor positioning to indoor positioning of the parking lot according to the real-time position of the vehicle so as to position the vehicle by adopting the indoor positioning mode.
Optionally, the first positioning mode switching module is specifically configured to:
and if the following conditions are met, switching the positioning mode of the vehicle from outdoor positioning to indoor positioning of the parking lot:
the GNSS positioning signal cannot be acquired at the real-time position of the vehicle;
determining that a real-time location of the vehicle is within a coverage area of the indoor map data;
determining that a distance between a real-time location of the vehicle and an entry road of the parking lot is less than or equal to a first distance threshold;
it is determined that a direction difference formed by the traveling direction of the vehicle and the entrance road of the parking lot is less than or equal to an angle threshold.
Optionally, if the road information analyzed by the indoor map analysis module 520 is an exit road of the parking lot, the apparatus further includes:
and the second positioning mode switching module is used for switching the positioning mode of the vehicle from indoor positioning to outdoor positioning of the parking lot according to the real-time position of the vehicle.
Optionally, the second positioning mode switching module is specifically configured to:
and if the following conditions are met, switching the positioning mode of the vehicle from indoor positioning to outdoor positioning of the parking lot:
acquiring a GNSS positioning signal at a real-time position of a vehicle;
determining that the real-time location of the vehicle is outside a coverage area of the indoor map data and that a distance of the real-time location of the vehicle from the coverage area is greater than or equal to a second distance threshold;
it is determined that the vehicle is exiting the coverage via the exit road.
Optionally, the operation status and position determining module 510 includes:
an operating state acquiring unit for acquiring an operating state of the vehicle;
a real-time position determination unit for determining a real-time position of the vehicle using the inertial navigation device;
wherein the real-time position determining unit includes:
an initial position determining subunit, configured to determine an initial position of the vehicle based on positioning data transmitted by the GNSS device;
the operation parameter acquisition subunit is used for acquiring operation parameters determined by the sensor in the vehicle operation process;
and the real-time position determining subunit is used for determining the real-time position of the vehicle by using the inertial navigation device according to the initial position and the operation parameters.
The indoor parking positioning device provided by the embodiment of the invention can execute the indoor parking positioning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Reference may be made to the description in the method embodiments of the invention for details not explicitly described in this embodiment.
EXAMPLE six
Fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention. FIG. 6 illustrates a block diagram of an exemplary electronic device 612 suitable for use in implementing embodiments of the present invention. The electronic device 612 shown in fig. 6 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present invention.
As shown in fig. 6, the electronic device 612 is represented in the form of a general electronic device. The components of the electronic device 612 may include, but are not limited to: one or more processors 616, a memory device 628, and a bus 618 that couples the various system components including the memory device 628 and the processors 616.
The electronic device 612 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 612 and includes both volatile and nonvolatile media, removable and non-removable media.
A program/utility 640 having a set (at least one) of program modules 642 may be stored, for example, in storage 628, such program modules 642 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 642 generally perform the functions and/or methods of the described embodiments of the present invention.
The electronic device 612 may also communicate with one or more external devices 614 (e.g., keyboard, pointing terminal, display 624, etc.), with one or more terminals that enable a user to interact with the electronic device 612, and/or with any terminals (e.g., network card, modem, etc.) that enable the electronic device 612 to communicate with one or more other computing terminals. Such communication may occur via input/output (I/O) interfaces 622. Also, the electronic device 612 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public Network, such as the internet) via the Network adapter 620. As shown in FIG. 6, the network adapter 620 communicates with the other modules of the electronic device 612 via the bus 618. It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with the electronic device 612, including but not limited to: microcode, end drives, Redundant processors, external disk drive Arrays, RAID (Redundant Arrays of Independent Disks) systems, tape drives, and data backup storage systems, among others.
The processor 616 executes programs stored in the storage device 628, so as to execute various functional applications and data processing, for example, implement an indoor parking positioning method provided by any embodiment of the present invention, which may include:
determining the real-time position of the vehicle by using an inertial navigation device, and acquiring the running state of the vehicle;
analyzing road information corresponding to the real-time position in indoor map data of the parking lot;
and positioning the vehicle according to the running state, the real-time position and the road information.
EXAMPLE seven
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements an indoor parking positioning method according to any embodiment of the present invention, where the method may include:
determining the real-time position of the vehicle by using an inertial navigation device, and acquiring the running state of the vehicle;
analyzing road information corresponding to the real-time position in indoor map data of the parking lot;
and positioning the vehicle according to the running state, the real-time position and the road information.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or terminal. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. An indoor parking positioning method, comprising:
determining the real-time position of the vehicle by using an inertial navigation device, and acquiring the running state of the vehicle;
analyzing road information corresponding to the real-time position in indoor map data of the parking lot;
and positioning the vehicle according to the running state, the real-time position and the road information.
2. The method of claim 1, wherein the operating conditions include an uphill condition and a downhill condition of the vehicle.
3. The method of claim 2, wherein locating the vehicle based on the operating state, real-time location, and road information comprises:
if the running state of the vehicle is a downhill state, matching the vehicle on a first connecting road associated with the road information, wherein the first connecting road is used for connecting a current floor to which the road information belongs and a first target floor, and the floor number of the first target floor is smaller than the current floor number and has a difference value of 1 with the current floor number;
and if the running state of the vehicle is an uphill state, matching the vehicle on a second connecting road associated with the road information, wherein the second connecting road is used for connecting the current floor to which the road information belongs and a second target floor, and the floor number of the second target floor is larger than the current floor number and has a difference value of 1 with the current floor number.
4. The method of claim 3, wherein locating the vehicle based on the operating condition, the real-time location, and the road information further comprises:
and determining the floor where the vehicle is located after the operation state is changed according to the change times of the uphill state and the downhill state experienced by the vehicle.
5. The method of claim 1, wherein if the parsed road information is an entrance road of the parking lot, before locating the vehicle according to the operation state, the real-time position, and the road information, the method further comprises:
and switching the positioning mode of the vehicle from outdoor positioning to indoor positioning of the parking lot according to the real-time position of the vehicle.
6. The method of claim 5, wherein switching the location mode of the vehicle from outdoor location to indoor location of the parking lot based on the real-time location of the vehicle comprises:
switching the positioning mode of the vehicle from outdoor positioning to indoor positioning of the parking lot if the following conditions are simultaneously met:
no GNSS positioning signals can be acquired at the real-time location of the vehicle;
determining that a real-time location of the vehicle is within a coverage area of the indoor map data;
determining that a distance of the real-time location of the vehicle from an entrance road of the parking lot is less than or equal to a first distance threshold;
determining that a direction difference formed by the driving direction of the vehicle and an entrance road of the parking lot is less than or equal to an angle threshold.
7. The method of claim 1, wherein if the parsed road information is an exit road of the parking lot, after locating the vehicle according to the operation state, the real-time position, and the road information, the method further comprises:
and switching the positioning mode of the vehicle from indoor positioning to outdoor positioning of the parking lot according to the real-time position of the vehicle.
8. The method of claim 7, wherein switching the positioning mode of the vehicle from indoor positioning to outdoor positioning of the parking lot based on the real-time location of the vehicle comprises:
switching the positioning mode of the vehicle from indoor positioning to outdoor positioning of the parking lot if the following conditions are simultaneously met:
acquiring a GNSS positioning signal at a real-time location of the vehicle;
determining that the real-time location of the vehicle is outside a coverage area of the indoor map data and that the distance of the real-time location of the vehicle from the coverage area is greater than or equal to a second distance threshold;
determining that the vehicle exits the coverage area via the exit road.
9. The method of claim 1, wherein determining the real-time position of the vehicle using the inertial navigation device comprises:
determining an initial position of the vehicle based on positioning data transmitted by a GNSS device;
acquiring operation parameters determined by a sensor in the vehicle operation process;
and determining the real-time position of the vehicle by using the inertial navigation device according to the initial position and the operation parameters.
10. An indoor parking positioning device, comprising:
the running state and position determining module is used for determining the real-time position of the vehicle by using the inertial navigation device and acquiring the running state of the vehicle;
the indoor map analysis module is used for analyzing road information corresponding to the real-time position in indoor map data of the parking lot;
and the parking positioning module is used for positioning the vehicle according to the running state, the real-time position and the road information.
11. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the indoor parking position method of any one of claims 1-9.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of locating an indoor parking space as claimed in any one of claims 1 to 9.
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| CN201811584859.6A CN111352142A (en) | 2018-12-24 | 2018-12-24 | Indoor parking positioning method and device, electronic equipment and medium |
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