CN108415051A - Method for correcting error, device and the storage medium of vehicle position information - Google Patents
Method for correcting error, device and the storage medium of vehicle position information Download PDFInfo
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- CN108415051A CN108415051A CN201810215753.2A CN201810215753A CN108415051A CN 108415051 A CN108415051 A CN 108415051A CN 201810215753 A CN201810215753 A CN 201810215753A CN 108415051 A CN108415051 A CN 108415051A
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- 238000000034 method Methods 0.000 title claims abstract description 60
- 238000012545 processing Methods 0.000 claims description 29
- 239000003550 marker Substances 0.000 claims description 23
- 238000004590 computer program Methods 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 15
- 230000009466 transformation Effects 0.000 claims description 12
- 238000004422 calculation algorithm Methods 0.000 claims description 6
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
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Abstract
The present invention provides a kind of method for correcting error of vehicle position information, device and storage medium, this method：It detects the traffic in video data in current frame image and indicates information；Obtain the first global position system GPS information of vehicle；The traffic detected is indicated that information and first GPS information are sent to server；The second GPS information that the server indicates information and first GPS information transmission according to the traffic is received, and corrects the location information of the vehicle according to second GPS information.Method for correcting error, device and the storage medium of vehicle position information provided by the invention can improve the accuracy of vehicle position information.
Description
Technical Field
The invention relates to an image detection technology, in particular to a deviation rectifying method and device for vehicle position information and a storage medium.
Background
At present, along with the development of economy and the improvement of the living standard of people, automobiles play an increasingly important role in the daily life of users, and in some services, the position of a vehicle needs to be accurately known.
In the prior art, a vehicle-mounted Global Positioning System (GPS), also called a satellite navigation Positioning System, is often used to obtain instantaneous position data of a vehicle, obtain instantaneous speed through a vehicle-mounted accelerometer, and automatically perform an integral calculation to obtain a geographic position of the vehicle. Under the conditions of good weather conditions and sufficient GPS precision, the current geographic position of the vehicle can be acquired more accurately. When the GPS is inaccurate, the accelerometer can still be used for estimating the movement speed so as to calculate the approximate position of the vehicle.
However, in an application environment where the vehicle position needs to be located, such as a map navigation scene, because the requirement for the vehicle location accuracy is high, the method in the prior art is adopted, and because of the influence of the accuracy of the GPS and the accelerometer in the vehicle driving process and the weather, errors are accumulated in the obtained vehicle geographic position, and thus the obtained vehicle position information is inaccurate.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a method and a device for correcting the position information of a vehicle and a storage medium, so as to correct the position information of the vehicle and improve the accuracy of the position information of the vehicle.
In a first aspect, an embodiment of the present invention provides a method for correcting a deviation of vehicle position information, including:
detecting traffic indication information in a current frame image in video data;
acquiring first global positioning system GPS information of a vehicle;
sending the detected traffic indication information and the first GPS information to a server;
and receiving second GPS information sent by the server according to the traffic indication information and the first GPS information, and correcting the position information of the vehicle according to the second GPS information.
Optionally, the traffic indication information includes at least one of the following information: lane lines, pavement markers, pedestrian crossings, traffic lights, and traffic signs.
Optionally, the traffic indication information includes a lane line;
the detecting traffic indication information in the current frame image in the video data includes:
filtering the current frame image by using a sobel operator to obtain a gradient image;
carrying out binarization processing on the gradient image to obtain a binarized image;
and fitting a straight line segment on the binary image by using hough transformation to detect the lane line in the current frame image.
Optionally, the traffic indicating information comprises pavement markers;
the detecting traffic indication information in the current frame image in the video data includes:
according to the detected lane line, carrying out image inverse perspective transformation IPM processing on the current frame image to obtain an IPM image;
and detecting the road surface marker according to the IPM image.
Optionally, the correcting the position of the vehicle according to the second GPS information includes:
updating the first GPS information to the second GPS information.
In a second aspect, an embodiment of the present invention provides a method for correcting a deviation of vehicle position information, including:
receiving traffic indication information sent by a first vehicle-mounted terminal and first GPS (global positioning system) information of a vehicle, wherein the traffic indication information is obtained by detecting a current frame image in video data by the first vehicle-mounted terminal;
determining second GPS information with the highest matching degree with the traffic indication information within a preset range around the first GPS information according to a corresponding relation between pre-stored traffic indication information and the GPS information;
and sending the second GPS information to the first vehicle-mounted terminal, wherein the second GPS information is used for correcting the position of the vehicle.
Optionally, before determining, according to a correspondence between traffic indication information and GPS information stored in advance, second GPS information having a highest matching degree with the traffic indication information within a preset range around the first GPS information, the method further includes:
receiving second traffic indication information, third GPS information and GPS signal strength sent by at least one second vehicle-mounted terminal;
determining a weighted value corresponding to the GPS signal strength according to the GPS signal strength;
and establishing a corresponding relation between the traffic indication information and the GPS information according to the second traffic indication information, the third GPS information and the weighted value.
Optionally, the method further includes:
and clustering the corresponding relation between the traffic indication information and the GPS information through a clustering algorithm so as to update the corresponding relation.
In a third aspect, an embodiment of the present invention provides a deviation rectifying device for vehicle position information, including:
the detection module is used for detecting traffic indication information in a current frame image in the video data;
the acquisition module is used for acquiring first global positioning system GPS information of the vehicle;
the sending module is used for sending the detected traffic indication information and the first GPS information to a server;
the receiving module is used for receiving second GPS information sent by the server according to the traffic indication information and the first GPS information;
and the processing module is used for correcting the position information of the vehicle according to the second GPS information.
Optionally, the traffic indication information includes at least one of the following information: lane lines, pavement markers, pedestrian crossings, traffic lights, and traffic signs.
Optionally, the traffic indication information includes a lane line;
the detection module is specifically configured to:
filtering the current frame image by using a sobel operator to obtain a gradient image;
carrying out binarization processing on the gradient image to obtain a binarized image;
and fitting a straight line segment on the binary image by using hough transformation to detect the lane line in the current frame image.
Optionally, the traffic indicating information comprises pavement markers;
the detection module is specifically configured to:
according to the detected lane line, carrying out image inverse perspective transformation IPM processing on the current frame image to obtain an IPM image;
and detecting the road surface marker according to the IPM image.
Optionally, the processing module is specifically configured to:
updating the first GPS information to the second GPS information.
In a fourth aspect, an embodiment of the present invention provides a deviation rectifying device for vehicle position information, including:
the receiving module is used for receiving traffic indication information sent by a first vehicle-mounted terminal and first GPS (global positioning system) information of a vehicle, wherein the traffic indication information is obtained by detecting a current frame image in video data by the first vehicle-mounted terminal;
the determining module is used for determining second GPS information with the highest matching degree with the traffic indication information within a preset range around the first GPS information according to the corresponding relation between the pre-stored traffic indication information and the GPS information;
and the sending module is used for sending the second GPS information to the first vehicle-mounted terminal, and the second GPS information is used for correcting the position of the vehicle.
Optionally, the apparatus further comprises: establishing a module; wherein,
the receiving module is further used for receiving second traffic indication information, third GPS information and GPS signal strength sent by at least one second vehicle-mounted terminal;
the determining module is further configured to determine a weighted value corresponding to the GPS signal strength according to the GPS signal strength;
the establishing module is further configured to establish a corresponding relationship between the traffic indication information and the GPS information according to the second traffic indication information, the third GPS information, and the weighted value.
Optionally, the apparatus further comprises: a processing module; wherein,
and the processing module is used for clustering the corresponding relation between the traffic indication information and the GPS information through a clustering algorithm so as to update the corresponding relation.
In a fifth aspect, an embodiment of the present invention provides an in-vehicle terminal, including:
a processor;
a memory; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor, the computer program comprising instructions for performing the method of the first aspect.
In a sixth aspect, an embodiment of the present invention provides a server, including:
a processor;
a memory; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor, the computer program comprising instructions for performing the method of the second aspect.
In a seventh aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and the computer program enables an in-vehicle terminal to execute the method in the first aspect.
In an eighth aspect, the present invention provides a computer-readable storage medium, where a computer program is stored, where the computer program causes a server to execute the method in the second aspect.
The method, the device and the storage medium for correcting the vehicle position information provided by the invention can correct the position of the vehicle according to the second GPS information by detecting the traffic indication information in the current frame image in the video data, acquiring the first GPS information of the vehicle, then sending the detected traffic indication information and the first GPS information to the server, and then receiving the second GPS information sent by the server according to the traffic indication information and the first GPS information. The vehicle-mounted terminal detects the traffic indication information in the current frame image, and after acquiring the first GPS position of the vehicle, the vehicle-mounted terminal sends the traffic indication information and the first GPS position to the server, and the server determines the second GPS information corresponding to the traffic indication information, namely the real GPS information according to the received traffic indication information and the first GPS position, and sends the determined real GPS information to the vehicle-mounted terminal.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a first embodiment of a deviation rectifying method for vehicle position information according to an embodiment of the present invention;
FIG. 2a is a schematic diagram of a current frame before IPM processing;
FIG. 2b is a diagram illustrating a current frame image after IPM processing;
FIG. 3 is a schematic illustration of pedestrian crossing detection;
FIG. 4 is a schematic flow chart of a first embodiment of a deviation rectifying method for vehicle position information according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a first deviation rectifying device for vehicle position information according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a second deviation rectifying device for vehicle position information according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a third embodiment of a deviation correcting device for vehicle position information according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a server according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The deviation rectifying method for the vehicle position information provided by the embodiment of the invention can be applied to application scenes in which the vehicle position needs to be positioned, and is particularly applied to scenes with higher requirements on the accuracy of the vehicle position information, such as map navigation scenes. At present, the instantaneous position data of the vehicle is generally obtained by using an on-board GPS system, and the instantaneous speed is obtained by an on-board accelerometer, so as to automatically perform integral calculation to obtain the geographic position of the vehicle. Under the conditions of good weather conditions and sufficient GPS precision, the current geographic position of the vehicle can be acquired more accurately. When the GPS is inaccurate, the accelerometer can still be used for estimating the movement speed so as to calculate the approximate position of the vehicle. However, in the above method, due to the influence of the accuracy of the GPS and the accelerometer during the driving of the vehicle and the weather, the obtained geographic position of the vehicle has an accumulated error, so that the obtained position information of the vehicle is inaccurate.
In the method, a vehicle-mounted terminal detects traffic indication information in a current frame image in video data, acquires first GPS information of a vehicle, sends the detected traffic indication information and the first GPS information to a server, and receives second GPS information sent by the server according to the traffic indication information and the first GPS information, so that the position of the vehicle can be corrected according to the second GPS information. The vehicle-mounted terminal detects the traffic indication information in the current frame image, and after acquiring the first GPS position of the vehicle, the vehicle-mounted terminal sends the traffic indication information and the first GPS position to the server, and the server determines the second GPS information corresponding to the traffic indication information, namely the real GPS information according to the received traffic indication information and the first GPS position, and sends the determined real GPS information to the vehicle-mounted terminal.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a schematic flow chart of a first embodiment of a deviation rectifying method for vehicle position information according to an embodiment of the present invention. The embodiment of the invention provides a deviation rectifying method for vehicle position information, which can be executed by any device for executing the deviation rectifying method for the vehicle position information, and the device can be realized by software and/or hardware. In this embodiment, the apparatus may be integrated in a vehicle-mounted terminal. As shown in fig. 1, the deviation rectifying method for vehicle position information provided by the embodiment of the present invention includes the following steps:
step 101, detecting traffic indication information in a current frame image in video data.
In this embodiment, the vehicle-mounted camera acquires video data of an area in front of the vehicle, and acquires a current frame image in the video data. The vehicle-mounted camera sends the obtained current frame image to the vehicle-mounted terminal, and the vehicle-mounted terminal detects traffic indication information in the current frame image. Wherein the traffic indication information comprises at least one of the following information: lane lines, pavement markers, pedestrian crossings, and traffic lights.
In a possible implementation manner, if the traffic indication information includes a lane line, the vehicle-mounted terminal will detect whether the lane line exists in the current frame image.
In a specific implementation process, the vehicle-mounted terminal detects the lane line in the current frame image, and the detection can be performed in the following manner: and filtering the current frame image by using a sobel operator to obtain a gradient image, performing binarization processing on the gradient image to obtain a binarized image, and fitting a straight line segment on the binarized image by using hough transformation to detect the lane line in the current frame image.
Specifically, after the vehicle-mounted terminal fits a straight line segment on the binary image by hough transformation, the fitted straight line segment is filtered by using the possible shape, width and direction of the lane line in the image, so that a straight line which cannot be taken as the lane line is eliminated, and a straight line which can be taken as the lane line is obtained, thereby obtaining the lane line in the current frame image.
Further, after the vehicle-mounted terminal detects the lane line, the vehicle-mounted terminal detects the road surface marker and identifies the type of the road surface marker. In one possible implementation, if the traffic indication information includes a road surface marker, detecting the traffic indication information in the current frame image in the video data includes: according to the detected lane line, carrying out image inverse perspective transformation (IPM) processing on the current frame image to obtain an IPM image; the road surface marker is detected from the IPM image.
Specifically, fig. 2a is a schematic diagram before the current frame image is subjected to IPM processing, and fig. 2b is a schematic diagram after the current frame image is subjected to IPM processing, as shown in fig. 2 a-2 b, a predetermined number of points may be extracted from the detected lane line, and the image may be subjected to IPM processing. For IPM processing, the value of the predetermined number is usually greater than or equal to 4, and the predetermined number may be selected according to actual conditions or experience, and may be, for example, 4 or 6.
Those skilled in the art will appreciate that the general use of perspective transformation may be utilized in specific implementationsTransforming the formula:and carrying out IPM processing on the current frame image. For the IPM process, similar to the prior art process, the process is not described herein.
After obtaining the IPM image, the machine learning method will be used to detect the pavement markers on the IPM image. Specifically, the categories of the pavement markers may include straight traveling, left turning around, left-front turning, right-front turning, straight traveling, left turning, and turning around, and straight traveling, right turning, and turning around, which are 11 categories in total, and a plurality of samples of the 11 types of pavement markers are collected first, and 100000 pieces of samples can be collected. Then, a Histogram of Oriented Gradient (HOG) is used as a grammatical description of the pavement marker, and finally, the collected characteristic data of the 11 types of samples are used as input and are transmitted to an Adasboost detector.
Next, it is necessary to identify the road surface marker, specifically, the detected road surface marker may be deducted from the IPM image, normalized to a preset size, for example, normalized to a size of 48 × 48, the HOG feature of the normalized image may be calculated, the obtained HOG feature may be used as an input, training may be performed by using a support vector machine, and the type of the road surface marker may be obtained, for example, it is found that the road surface marker included in the current frame image is left turn.
In addition, in a possible implementation manner, the vehicle-mounted terminal needs to detect whether a crosswalk exists in the current frame image. It should be noted that, in order to improve the accuracy of the determined vehicle position information, the vehicle-mounted terminal may only detect whether there is a pedestrian crossing in the image road surface in the area in front of the vehicle head. Specifically, fig. 3 is a schematic diagram of pedestrian crossing detection, and as shown in fig. 3, the region a in fig. 3 may be selected as a region to be detected of a pedestrian crossing, and the number and direction of straight lines included in the region a are detected by using a straight line detection method, for example, the image in the region a may be filtered by using a sobel operator to obtain a gradient image, and the obtained gradient image is binarized to obtain a binarized image, and then a hough transform is used to fit the straight lines on the binarized image. After obtaining the straight line segments in the area a, it is determined whether the number of the straight line segments exceeds a preset threshold and whether the straight line interval is smaller than a preset value, and if it is determined that the number of the straight line segments exceeds the preset threshold and the straight line interval is smaller than the preset value, it is indicated that a human crosswalk exists in the area a, where the preset threshold may be, for example, 5, the preset value may be, for example, one third of a normal lane, and the specific values of the preset threshold and the preset value are not limited in the embodiment of the present invention.
In addition, the vehicle-mounted terminal can also detect whether traffic lights exist in the current frame image, wherein the size of the traffic lights needs to be larger than a preset value, and if the height x width is larger than 90x30, the size of the traffic lights needs to be larger than the preset value. It should be noted that, in order to improve the accuracy of the determined vehicle position information, the vehicle-mounted terminal may only detect whether a traffic light exists in the current driving direction. Specifically, as shown in fig. 3, the D region in fig. 3 may be selected as a traffic light detection region, and a machine learning method may be used to detect whether a traffic light exists in the D region. Such as: firstly, a plurality of traffic light samples are collected, for example, 100000 traffic lights can be collected. And finally, the collected characteristic data of the D area is used as input and is transmitted to an Adasboost detector to detect whether the traffic light exists in the D area.
Optionally, the traffic indication information may further include traffic signs, that is, the vehicle-mounted terminal may detect not only lane lines, road surface markers, pedestrian crossings and traffic lights, but also traffic signs existing on two sides of the current driving direction, where the traffic signs include 49 warning signs, 43 prohibition signs, 29 indication signs, and the like. Specifically, as shown in fig. 3, B, C area may be selected as the area to be detected for the traffic sign, and whether the traffic sign exists in the B, C area is detected by using a machine learning method, where a manner of detecting the traffic sign by using the machine learning method is similar to a manner of detecting the road surface marker by using the machine learning method, and details thereof are not repeated here.
Step 102, obtaining first global positioning system GPS information of a vehicle.
In this embodiment, the vehicle-mounted terminal may acquire the first GPS information of the vehicle at the current time by using the GPS, where the first GPS information includes latitude and longitude information, such as that the vehicle is located at the position of north latitude 34.233 and east longitude 108.911 when the vehicle is acquired at the current time.
And 103, sending the detected traffic indication information and the first GPS information to a server.
In this embodiment, after detecting the traffic indication information, the vehicle-mounted terminal sends the traffic indication information and the acquired first GPS information to the server, that is, there is a correspondence between the traffic indication information and the first GPS. It should be noted that the in-vehicle terminal only needs to send the traffic instruction information existing in the current frame image to the server.
For example: if the vehicle-mounted terminal acquires that the lane line, the road surface marker and the pedestrian crossing exist in the current frame image through detection, and acquires that the first GPS information is the northern latitude 34.233 and the east longitude 108.911, the vehicle-mounted terminal packs the lane line, the road surface marker, the pedestrian crossing, the northern latitude 34.233 and the east longitude 108.911 and sends the packed lane line, the road surface marker and the pedestrian crossing to the cloud server.
And step 104, receiving second GPS information sent by the server according to the traffic indication information and the first GPS information, and correcting the position information of the vehicle according to the second GPS information.
In this embodiment, the server stores in advance the correspondence between the traffic indication information and the GPS through a large number of samples, for example, which traffic indication information exists at a certain GPS position, such as lane lines, road surface markers, and pedestrian crossings at the north latitude 34.233 and east longitude 108.911 positions, and road surface markers, pedestrian crossings, traffic lights, and the like at the north latitude 34.235 and east longitude 108.913 positions. After the vehicle-mounted terminal sends the traffic indication information and the first GPS to the server, the server determines whether the traffic indication information with the highest matching degree with the traffic indication information sent by the vehicle-mounted terminal exists in a preset range around the first GPS information according to the pre-stored corresponding relation between the traffic indication information and the GPS, and if the traffic indication information exists, the second GPS information corresponding to the traffic indication information is sent to the vehicle-mounted terminal.
After receiving the second GPS information, the in-vehicle terminal corrects the position information of the vehicle according to the second GPS information, and specifically, may update the first GPS information to the second GPS information. The second GPS information can be determined by utilizing the first GPS information acquired by the vehicle-mounted terminal and the acquired traffic indication information, so that the real GPS information of the vehicle can be obtained, and the accuracy of the position of the vehicle is improved.
The preset range may be selected according to actual conditions or experience, for example, the preset range may be set to 2m or 3m, and the specific value of the preset range is not limited herein.
For example, if the vehicle-mounted terminal detects that the traffic indication information in the current frame image includes a lane line, a road surface marker, a pedestrian crossing and a traffic light, the acquired first GPS information is north latitude 34.233 and east longitude 108.911, after receiving the information sent by the vehicle-mounted terminal, the server determines whether the traffic sign information matching with the lane line, the road surface marker, the pedestrian crossing and the traffic light exists in a preset range around north latitude 34.233 and east longitude 108.911 according to the corresponding relationship between the traffic indication information and the GPS stored in advance, if the server finds that the traffic sign information matching with the lane line, the road surface marker, the pedestrian crossing and the traffic light exists at positions of north latitude 34.232 and east longitude 108.910 through query, the north latitude 34.232 and east longitude 108.910 are sent to the vehicle-mounted terminal as second GPS information, so that the vehicle-mounted terminal will send the first GPS information to north latitude 34.233, the east longitude 108.911 is updated to the second GPS information north latitude 34.232 and east longitude 108.910.
According to the deviation rectifying method for the vehicle position information provided by the embodiment of the invention, the vehicle-mounted terminal detects the traffic indication information in the current frame image in the video data, acquires the first GPS information of the vehicle, then sends the detected traffic indication information and the first GPS information to the server, and receives the second GPS information sent by the server according to the traffic indication information and the first GPS information, so that the position of the vehicle can be corrected according to the second GPS information. The vehicle-mounted terminal detects the traffic indication information in the current frame image, and after acquiring the first GPS position of the vehicle, the vehicle-mounted terminal sends the traffic indication information and the first GPS position to the server, and the server determines the second GPS information corresponding to the traffic indication information, namely the real GPS information according to the received traffic indication information and the first GPS position, and sends the determined real GPS information to the vehicle-mounted terminal.
Fig. 4 is a schematic flow chart of a first embodiment of a method for correcting the vehicle position information according to the present invention, and the embodiment of the present invention provides a method for correcting the vehicle position information, which can be performed by any device for performing the method for correcting the vehicle position information, and the device can be implemented by software and/or hardware. In this embodiment, the apparatus may be integrated in a server. As shown in fig. 4, the deviation rectifying method for vehicle position information provided by the embodiment of the present invention includes the following steps:
step 401, receiving traffic indication information sent by a first vehicle-mounted terminal and first GPS information of a vehicle, where the traffic indication information is obtained by the first vehicle-mounted terminal detecting a current frame image in video data.
In this embodiment, the vehicle-mounted camera acquires video data of an area in front of the vehicle, and acquires a current frame image in the video data. The vehicle-mounted camera sends the obtained current frame image to the first vehicle-mounted terminal, and the first vehicle-mounted terminal detects traffic indication information in the current frame image. Wherein the traffic indication information comprises at least one of the following information: lane lines, pavement markers, pedestrian crossings, and traffic lights.
In addition, the first vehicle-mounted terminal acquires first GPS information of the vehicle at the current time by using a GPS, wherein the first GPS information comprises longitude and latitude information.
The first vehicle-mounted terminal detects the traffic indication information in the current frame image and sends the traffic indication information and the first GPS information to the server after acquiring the first GPS information.
And 402, determining second GPS information with the highest matching degree with the traffic indication information in a preset range around the first GPS information according to the corresponding relation between the pre-stored traffic indication information and the GPS information.
In a possible implementation manner, the server needs to establish a correspondence between the traffic indication information and the GPS information before determining the second GPS. Specifically, the server receives second traffic indication information, third GPS information and GPS signal strength sent by at least one second vehicle-mounted terminal, determines a weighted value corresponding to the GPS signal strength according to the GPS signal strength, and establishes a correspondence between the traffic indication information and the GPS information according to the second traffic indication information, the third GPS information and the weighted value.
The server receives the information and determines whether a lane line, a road sign, a pedestrian crosswalk and a traffic light exist at the position corresponding to the third GPS information according to the second traffic indication information. For example, for the same third GPS information, if more than 50% of the traffic indication information reported by the second vehicle-mounted terminal includes a road sign, it is determined that the road sign exists at the position corresponding to the third GPS information, if more than 70% of the traffic indication information reported by the second vehicle-mounted terminal includes a pedestrian crossing, it is determined that the pedestrian crossing exists at the position corresponding to the third GPS information, if more than 50% of the traffic indication information reported by the second vehicle-mounted terminal includes a traffic sign, it is determined that the traffic sign exists at the position corresponding to the third GPS information, and if more than 70% of the traffic indication information reported by the second vehicle-mounted terminal includes a traffic light, it is determined that the traffic light exists at the position corresponding to the third GPS information.
Another example is: for the same third GPS information, if the traffic indication information reported by the second vehicle-mounted terminal does not include the road sign, it is determined that the road sign does not exist at the position corresponding to the third GPS information, if the traffic indication information reported by the second vehicle-mounted terminal does not exceed 5% includes the pedestrian crossing, it is determined that the pedestrian crossing does not exist at the position corresponding to the third GPS information, if the traffic indication information reported by the second vehicle-mounted terminal does not exceed 5% includes the traffic sign, it is determined that the traffic sign does not exist at the position corresponding to the third GPS information, and if the traffic indication information reported by the second vehicle-mounted terminal does not exceed 5% includes the traffic light, it is determined that the traffic light does not exist at the position corresponding to the third GPS information.
In addition, the server determines a weighted value corresponding to the GPS signal strength according to the current GPS signal strength, where if the GPS signal strength is strong, it indicates that the accuracy of the information reported by the second onboard terminal is high, at this time, the weighted value corresponding to the GPS signal strength is high, and may be 80%, if the GPS signal strength is weak, it indicates that the accuracy of the information reported by the second onboard terminal is low, at this time, the weighted value corresponding to the GPS signal strength is low, and may be 40%.
After determining the weighted value corresponding to the GPS signal strength, the server establishes a corresponding relationship between the traffic indication information and the GPS information according to the second traffic indication information, the third GPS information and the determined weighted value corresponding to the GPS signal strength, which are sent by the plurality of second vehicle-mounted terminals. Optionally, the server may include the following structured information: GPS information (longitude, latitude, lane lines, pavement markers, crosswalks, traffic signs, traffic lights). Such as GPS information (east longitude 108.911, north latitude 34.233, lane marking, road surface marking, crosswalk, traffic marking, traffic light) and the like (east longitude 108.913, north latitude 34.235, lane marking, road surface marking, crosswalk, traffic marking, traffic light).
In addition, optionally, in order to improve the accuracy of the vehicle location information, the server may perform clustering processing on the correspondence between the traffic indication information and the GPS information through a clustering algorithm after a certain period of time, so as to update the correspondence. For example, after every 12 hours, the previously established correspondences may be clustered by the K-Means clustering algorithm to merge some detection results.
In this embodiment, after receiving the traffic indication information sent by the first vehicle-mounted terminal and the first GPS information of the vehicle, the server determines whether there is traffic indication information with the highest matching degree with the traffic indication information sent by the first vehicle-mounted terminal within a preset range around the first GPS information according to a pre-stored correspondence between the traffic indication information and the GPS, and if so, sends the second GPS information corresponding to the traffic indication information to the first vehicle-mounted terminal.
The preset range may be selected according to actual conditions or experience, for example, the preset range may be set to 2m or 3m, and the specific value of the preset range is not limited herein.
For example, if the first vehicle-mounted terminal detects that the traffic indication information in the current frame image includes a lane line, a road surface marker, a pedestrian crossing and a traffic light, the obtained first GPS information is north latitude 34.233 and east longitude 108.911, after receiving the information sent by the first vehicle-mounted terminal, the server determines whether the traffic indication information matched with the lane line, the road surface marker, the pedestrian crossing and the traffic light exists within a preset range around north latitude 34.233 and east longitude 108.911 according to the corresponding relationship between the traffic indication information and the GPS stored in advance, and if the server finds that the traffic indication information matched with the lane line, the road surface marker, the pedestrian crossing and the traffic light exists at the positions of north latitude 34.232 and east longitude 108.910 through query, the server sends the north latitude 34.232 and east longitude 108.910 as second GPS information to the first vehicle-mounted terminal.
In addition, the server can compare data uploaded by the vehicle-mounted terminal in a preset distance that the vehicle has passed through, and calculate the most probable position of the current vehicle by combining various signal geographic positions stored in the database, for example, the server can compare data uploaded by the vehicle in the past 1 kilometer that the vehicle has passed through. For example: the server can search the position corresponding to the traffic indication information which is most matched with the current position, namely the first GPS information, and if the second GPS information is searched, the searched second GPS information is directly returned to the vehicle-mounted terminal so as to correct the position of the vehicle. And if the second GPS information matched with the current position is not found, matching according to the uploaded data of the past 1 kilometer. If the number of the second GPS information matched within the past 1 kilometer is less than 3, deviation rectification is not performed, and if the number of the second GPS information matched within the past 1 kilometer is more than or equal to 3, prediction of the current position is performed according to the uploading time and the GPS information.
And step 403, sending the second GPS information to the first vehicle-mounted terminal, wherein the second GPS information is used for correcting the position of the vehicle.
In this embodiment, after determining the second GPS information, the server sends the second GPS information to the first vehicle-mounted terminal, and after receiving the second GPS information, the first vehicle-mounted terminal corrects the position information of the vehicle according to the second GPS information, specifically, the first GPS information may be updated to the second GPS information, for example: the first vehicle-mounted terminal updates the north latitude 34.233 and the east longitude 108.911 of the first GPS information to the north latitude 34.232 and the east longitude 108.910 of the second GPS information. The second GPS information can be determined by utilizing the first GPS information acquired by the vehicle-mounted terminal and the acquired traffic indication information, so that the real GPS information of the vehicle can be obtained, and the accuracy of the position of the vehicle is improved.
The deviation rectifying method for the vehicle position information provided by the embodiment of the invention receives traffic indication information and first GPS information of a vehicle, wherein the traffic indication information is obtained by detecting a current frame image in video data by a first vehicle-mounted terminal, and according to a corresponding relation between the pre-stored traffic indication information and the pre-stored GPS information, second GPS information with the highest matching degree with the traffic indication information in a preset range around the first GPS information is determined and is sent to the first vehicle-mounted terminal, and the second GPS information is used for correcting the position of the vehicle. The vehicle-mounted terminal detects the traffic indication information in the current frame image, and after acquiring the first GPS position of the vehicle, the vehicle-mounted terminal sends the traffic indication information and the first GPS position to the server, and the server determines the second GPS information corresponding to the traffic indication information, namely the real GPS information according to the received traffic indication information and the first GPS position, and sends the determined real GPS information to the vehicle-mounted terminal.
Fig. 5 is a schematic structural diagram of a first deviation rectifying device for vehicle position information according to an embodiment of the present invention. The deviation correcting device for the vehicle position information can be an independent vehicle-mounted terminal or a device integrated in the vehicle-mounted terminal, and the device can be realized in a software, hardware or software and hardware combination mode. As shown in fig. 5, the apparatus includes:
the detection module 11 is configured to detect traffic indication information in a current frame image in the video data;
the acquisition module 12 is used for acquiring first global positioning system GPS information of the vehicle;
the sending module 13 is configured to send the detected traffic indication information and the first GPS information to a server;
the receiving module 14 is configured to receive second GPS information sent by the server according to the traffic indication information and the first GPS information;
the processing module 15 is configured to correct the position information of the vehicle according to the second GPS information.
The deviation correcting device for vehicle position information provided by the embodiment of the invention can execute the method embodiment shown in the figure 1, and the implementation principle and the technical effect are similar, and are not described again.
Optionally, the traffic indication information includes at least one of the following information: lane lines, pavement markers, pedestrian crossings, traffic lights, and traffic signs.
Optionally, the traffic indication information includes a lane line;
the detection module 11 is specifically configured to:
filtering the current frame image by using a sobel operator to obtain a gradient image;
carrying out binarization processing on the gradient image to obtain a binarized image;
and fitting a straight line segment on the binary image by using hough transformation to detect the lane line in the current frame image.
Optionally, the traffic indicating information comprises pavement markers;
the detection module 11 is specifically configured to:
according to the detected lane line, carrying out image inverse perspective transformation IPM processing on the current frame image to obtain an IPM image;
and detecting the road surface marker according to the IPM image.
Optionally, the processing module 15 is specifically configured to:
updating the first GPS information to the second GPS information.
The deviation correcting device for vehicle position information provided by the embodiment of the invention can execute the method embodiment shown in the figure 1, and the implementation principle and the technical effect are similar, and are not described again.
Fig. 6 is a schematic structural diagram of a second deviation rectifying device for vehicle position information according to an embodiment of the present invention. The deviation correcting device for the vehicle position information can be an independent server or a device integrated in the server, and the device can be realized in a software, hardware or software and hardware combination mode. As shown in fig. 6, the apparatus includes:
the receiving module 21 is configured to receive traffic indication information sent by a first vehicle-mounted terminal and first GPS information of a vehicle, where the traffic indication information is obtained by detecting a current frame image in video data by the first vehicle-mounted terminal;
the determining module 22 is configured to determine, according to a correspondence between pre-stored traffic indication information and GPS information, second GPS information having a highest matching degree with the traffic indication information within a preset range around the first GPS information;
the sending module 23 is configured to send the second GPS information to the first vehicle-mounted terminal, where the second GPS information is used to correct the position of the vehicle.
The deviation correcting device for vehicle position information provided by the embodiment of the invention can execute the method embodiment shown in the figure 4, and the implementation principle and the technical effect are similar, and are not described again.
Fig. 7 is a schematic structural diagram of a third embodiment of a deviation correcting device for vehicle position information according to an embodiment of the present invention, and based on the embodiment shown in fig. 6, the device further includes: a module 24 is established.
The receiving module 21 is further configured to receive second traffic indication information, third GPS information, and GPS signal strength sent by at least one second vehicle-mounted terminal;
the determining module 22 is further configured to determine a weighted value corresponding to the GPS signal strength according to the GPS signal strength;
the establishing module 24 is further configured to establish a corresponding relationship between the traffic indication information and the GPS information according to the second traffic indication information, the third GPS information, and the weighted value.
Optionally, the processing module 25 is configured to perform clustering processing on the corresponding relationship between the traffic indication information and the GPS information through a clustering algorithm, so as to update the corresponding relationship.
The deviation correcting device for vehicle position information provided by the embodiment of the invention can execute the method embodiment shown in the figure 4, and the implementation principle and the technical effect are similar, and are not described again.
Fig. 8 is a schematic structural diagram of the vehicle-mounted terminal according to the embodiment of the present invention. As shown in fig. 8, the vehicle terminal may include a transmitter 80, a processor 81, a memory 82, a receiver 84, and at least one communication bus 83. The communication bus 83 is used to realize communication connection between the elements. The memory 82 may comprise a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk memory, in which various computer programs may be stored for performing various processing functions and implementing the method steps of the embodiment illustrated in fig. 1 described above.
Fig. 9 is a schematic structural diagram of a server according to an embodiment of the present invention. As shown in fig. 9, the server may include a transmitter 90, a processor 91, a memory 92, a receiver 94, and at least one communication bus 93. The communication bus 93 is used to realize communication connection between the elements. The memory 92 may comprise a high-speed RAM memory and may also include a non-volatile storage NVM, such as at least one disk memory, in which various computer programs may be stored for performing various processing functions and implementing the method steps of the embodiment illustrated in fig. 4 and described above.
The embodiment of the invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program enables a server to execute the deviation rectifying method for the vehicle position information provided by any one of the embodiments.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (14)
1. A deviation rectifying method for vehicle position information is characterized by comprising the following steps:
detecting traffic indication information in a current frame image in video data;
acquiring first global positioning system GPS information of a vehicle;
sending the detected traffic indication information and the first GPS information to a server;
and receiving second GPS information sent by the server according to the traffic indication information and the first GPS information, and correcting the position information of the vehicle according to the second GPS information.
2. The method of claim 1, wherein the traffic indication information comprises at least one of: lane lines, pavement markers, pedestrian crossings, traffic lights, and traffic signs.
3. The method of claim 2, wherein the traffic indicating information includes lane markings;
the detecting traffic indication information in the current frame image in the video data includes:
filtering the current frame image by using a sobel operator to obtain a gradient image;
carrying out binarization processing on the gradient image to obtain a binarized image;
and fitting a straight line segment on the binary image by using hough transformation to detect the lane line in the current frame image.
4. The method of claim 3, wherein the traffic-indicating information includes pavement markers;
the detecting traffic indication information in the current frame image in the video data includes:
according to the detected lane line, carrying out image inverse perspective transformation IPM processing on the current frame image to obtain an IPM image;
and detecting the road surface marker according to the IPM image.
5. The method of any of claims 1-4, wherein correcting the position of the vehicle based on the second GPS information comprises:
updating the first GPS information to the second GPS information.
6. A deviation rectifying method for vehicle position information is characterized by comprising the following steps:
receiving traffic indication information sent by a first vehicle-mounted terminal and first GPS (global positioning system) information of a vehicle, wherein the traffic indication information is obtained by detecting a current frame image in video data by the first vehicle-mounted terminal;
determining second GPS information with the highest matching degree with the traffic indication information within a preset range around the first GPS information according to a corresponding relation between pre-stored traffic indication information and the GPS information;
and sending the second GPS information to the first vehicle-mounted terminal, wherein the second GPS information is used for correcting the position of the vehicle.
7. The method according to claim 6, wherein before determining second GPS information having a highest degree of matching with the traffic indication information within a preset range around the first GPS information according to a correspondence between pre-stored traffic indication information and GPS information, the method further comprises:
receiving second traffic indication information, third GPS information and GPS signal strength sent by at least one second vehicle-mounted terminal;
determining a weighted value corresponding to the GPS signal strength according to the GPS signal strength;
and establishing a corresponding relation between the traffic indication information and the GPS information according to the second traffic indication information, the third GPS information and the weighted value.
8. The method of claim 7, further comprising:
and clustering the corresponding relation between the traffic indication information and the GPS information through a clustering algorithm so as to update the corresponding relation.
9. A deviation correcting device for vehicle position information is characterized by comprising:
the detection module is used for detecting traffic indication information in a current frame image in the video data;
the acquisition module is used for acquiring first global positioning system GPS information of the vehicle;
the sending module is used for sending the detected traffic indication information and the first GPS information to a server;
the receiving module is used for receiving second GPS information sent by the server according to the traffic indication information and the first GPS information;
and the processing module is used for correcting the position information of the vehicle according to the second GPS information.
10. A deviation correcting device for vehicle position information is characterized by comprising:
the receiving module is used for receiving traffic indication information sent by a first vehicle-mounted terminal and first GPS (global positioning system) information of a vehicle, wherein the traffic indication information is obtained by detecting a current frame image in video data by the first vehicle-mounted terminal;
the determining module is used for determining second GPS information with the highest matching degree with the traffic indication information within a preset range around the first GPS information according to the corresponding relation between the pre-stored traffic indication information and the GPS information;
and the sending module is used for sending the second GPS information to the first vehicle-mounted terminal, and the second GPS information is used for correcting the position of the vehicle.
11. A vehicle-mounted terminal characterized by comprising:
a processor;
a memory; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor, the computer program comprising instructions for performing the method of any of claims 1-5.
12. A server, comprising:
a processor;
a memory; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor, the computer program comprising instructions for performing the method of any of claims 6-8.
13. A computer-readable storage medium, characterized in that it stores a computer program that causes a server to execute the method of any one of claims 1-5.
14. A computer-readable storage medium, characterized in that it stores a computer program that causes a server to execute the method of any of claims 6-8.
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Application publication date: 20180817 |