CN111380539A - Vehicle positioning and navigation method and device and related system - Google Patents
Vehicle positioning and navigation method and device and related system Download PDFInfo
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- CN111380539A CN111380539A CN201811622350.6A CN201811622350A CN111380539A CN 111380539 A CN111380539 A CN 111380539A CN 201811622350 A CN201811622350 A CN 201811622350A CN 111380539 A CN111380539 A CN 111380539A
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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
- G01C21/30—Map- or contour-matching
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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
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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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
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
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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
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
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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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Abstract
The invention provides a vehicle positioning and navigation method, a vehicle positioning and navigation device and a related system. The lane-level vehicle positioning is realized, the positioning accuracy is improved, the vehicle positioning error is reduced, and the problem of inaccurate vehicle positioning in the prior art is solved. According to the acquired lane-level vehicle positioning information, lane-level path planning can be realized, and lane-level navigation routes or path guide information can be provided.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a vehicle positioning and navigation method, a vehicle positioning and navigation device and a related system.
Background
At present, in the prior art, a vehicle is positioned through a satellite navigation system, and the vehicle can only be positioned on a road. And performing path planning or path guidance according to the position of the vehicle on the road. Moreover, since the accuracy of satellite positioning in the prior art is generally on the meter level, a vehicle positioning error may occur, for example, a vehicle currently driving on a side road is positioned on a main road of a road. In addition, because a plurality of lanes are often present on a road in the real world, the vehicle is positioned on the road of a road map by adopting the existing positioning method, but the lane where the vehicle is located cannot be determined, and only road-level path planning or path guidance information can be provided. The existing positioning method can not be used for positioning the lane of the road where the vehicle runs, lane-level lane change guide information can not be provided according to the current position of the vehicle, so that a driver can find that lane change to the right is needed after the vehicle walks to a solid line area, but the driver can not change the lane to the right when the vehicle is in the solid line area and can only continue to run on the straight road. Therefore, when the existing positioning method is used, when the lanes of the road are more, the situation that the guiding information of the vehicle is not detailed and the vehicle is wrong due to inaccurate positioning may occur. If accurate lane-level positioning cannot be achieved, lane-level navigation routes or guidance information cannot be provided.
However, in the existing lane-level map matching technology, high-precision map data needs to be stored to perform type and color matching on lanes, and determine the lane where the current vehicle is located, but the high-precision data does not store lane information on all roads, lane information may be stored on some roads with higher road levels, such as high speed, city speed, and the like, and lane information may not be stored on roads with lower road levels, such as town roads (i.e., the location information and the type of a specific lane are not stored, but the number of lane lines may be stored). When the vehicle runs on a road with a low road grade, the lane information identified by the camera cannot be matched with the high-precision data.
Disclosure of Invention
In view of the technical drawbacks and disadvantages of the prior art, embodiments of the present invention provide a vehicle positioning and navigation method and apparatus, and an associated system, that overcome or at least partially solve the above problems.
As an aspect of an embodiment of the present invention, there is provided a vehicle positioning method including the steps of:
acquiring satellite positioning information of a vehicle and driving information of the vehicle to obtain absolute position information of the vehicle, and determining a road where the vehicle is located in a road map according to the absolute position information of the vehicle;
acquiring image information of a road where a vehicle is located to obtain lane line information of each lane in the image;
matching the lane line information of each lane in the image with the road information in the road map to determine the lane of the vehicle in the road map; the road information in the road map includes the number of lanes of the road.
Optionally, the lane line information of each lane in the image includes: the type of the lane line and the position relation between the vehicle and the left and right lane lines of the lane.
Optionally, the lane line information of each lane in the image further includes: the distance between the vehicle and the nearest lane line on the left side of the lane where the vehicle is located or the distance between the vehicle and the nearest lane line on the right side of the lane where the vehicle is located, and correspondingly, the method further comprises the following steps:
and determining the position of the vehicle on the lane where the vehicle is located in the road map according to the distance between the vehicle and the nearest lane line on the left side of the lane where the vehicle is located in the image or the distance between the vehicle and the nearest lane line on the right side of the lane where the vehicle is located.
Optionally, matching the lane line information of each lane in the image with the road information in the road map, and determining the lane where the vehicle is located in the road map, includes:
if the lane line type of each lane in the image has a special lane line; the special lane line includes: double solid lines and road edge lines;
and determining the lane of the vehicle in the road map according to the position relation between the vehicle and the special lane line in the image and the number of lanes of the road in the road map.
Optionally, matching the lane line information of each lane in the image with the road information in the road map, and determining the lane where the vehicle is located in the road map, further comprising:
if no special lane line exists in the lane line types of all lanes in the image;
and positioning the vehicle on the historical positioning lane on the road map or the positioning lane after the vehicle changes the lane according to the historical positioning lane and the vehicle lane change condition within the time threshold range before the vehicle performs the lane positioning currently.
As a second aspect of the embodiment of the present invention, there is provided a vehicle navigation method including:
determining position information of the vehicle on a lane in a road map by the vehicle positioning method as described above;
and generating a lane-level navigation route according to the position information of the vehicle on the lane in the road map and the target position information of the vehicle.
As a third aspect of the embodiment of the present invention, there is provided a vehicle positioning device including:
the basic positioning module is used for acquiring satellite positioning information of the vehicle and driving information of the vehicle to obtain absolute position information of the vehicle, and determining a road where the vehicle is located in a road map according to the absolute position information of the vehicle;
the image processing module is used for acquiring image information of a road where the vehicle is located to obtain lane line information of each lane in the image;
the matching positioning module is used for matching the lane line information of each lane in the image with the road information in the road map to determine the lane of the vehicle in the road map; the road information in the road map includes the number of lanes of the road.
As a fourth aspect of the embodiment of the present invention, a vehicle navigation device is related to, including the vehicle positioning device as described above, further including:
and the navigation route generating module is used for generating a lane-level navigation route according to the position information of the vehicle on the lane in the road map and the target position information of the vehicle.
As yet another aspect of an embodiment of the present invention, a computer readable storage medium is involved, on which computer instructions are stored, which when executed by a processor, implement the vehicle positioning method as described above.
As still another aspect of an embodiment of the present invention, there is provided a vehicle positioning apparatus including: a processor, a memory for storing processor executable commands; wherein the processor is configured to perform the vehicle positioning method as described above.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in some optional embodiments, the method first obtains satellite positioning information of a vehicle and driving information of the vehicle to obtain absolute position information of the vehicle, determines a road where the vehicle is located in a road map according to the absolute position information of the vehicle, then collects image information of the road where the vehicle is located to obtain lane line information of each lane in the image, and finally matches the lane line information of each lane in the image with the road information in the road map to determine the lane where the vehicle is located in the road map. The lane-level vehicle positioning is realized, the positioning accuracy is improved, the vehicle positioning error is reduced, and the problem of inaccurate vehicle positioning in the prior art is solved. According to the acquired lane-level vehicle positioning information, lane-level path planning can be realized, and lane-level navigation routes or path guide information can be provided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
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 some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flowchart of a vehicle positioning method according to a first embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for determining a lane of a vehicle on a road map according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a method for determining a lane in a road map according to a first embodiment of the present invention;
wherein, (a) is an example in which a special lane line exists in the image;
(B) an example in which no special lane line exists in the image;
(C) an example that no special lane line exists in the image and no historical positioning lane information exists is shown;
FIG. 4 is a flowchart of a vehicle positioning method according to a second embodiment of the present invention;
FIG. 5 is a flowchart of a vehicle navigation method according to a third embodiment of the present invention;
fig. 6 is a block diagram showing a vehicle positioning apparatus according to a fourth embodiment of the present invention;
fig. 7 is a block diagram of a car navigation device according to a fifth embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The first embodiment is as follows:
in view of the above problems in the prior art, an embodiment of the present invention provides a vehicle positioning method, as shown in fig. 1, the method includes the following steps S11-S13:
s11: the method comprises the steps of obtaining satellite positioning information of a vehicle and driving information of the vehicle to obtain absolute position information of the vehicle, and determining the road where the vehicle is located in a road map according to the absolute position information of the vehicle.
The Satellite Positioning information of the vehicle may be acquired by using a Satellite Positioning System in the prior art, such as a Global Positioning System (GPS), a BeiDou Navigation Satellite System (BDS), or a Global Navigation Satellite System (GLONASS); the driving information of the vehicle may include driving speed information of the vehicle and steering information of the vehicle, which may be acquired by a speed sensor and a direction sensor installed in the vehicle through a method in the related art. The absolute position information of the vehicle is determined according to the satellite positioning information of the vehicle and the driving information of the vehicle, and the specific process can be realized by referring to the prior art. And positioning the absolute position information of the determined vehicle on the road of the road map according to the road data in the pre-stored road map, namely determining the road on which the vehicle is positioned in the road map.
S12: and acquiring image information of the road where the vehicle is located to obtain lane line information of each lane in the image.
In this embodiment, the image information of the road where the vehicle is located may be acquired by an image acquisition device, such as a camera, installed in the vehicle. The data are collected in real time through the camera, the image information of the lane where the vehicle is located is obtained, and the lane line types of all lanes in the image and the position relation between the vehicle and the left and right lane lines of the lane where the vehicle is located are obtained through an image recognition method. The lane lines on the left side and the right side of the vehicle collected by the camera can be at least two lines on the left side and the right side respectively, and when the vehicle runs on the leftmost lane or the rightmost lane of the road, only one lane line on the left side or the right side can be collected. The image recognition method may be an image recognition method in the prior art, and is not particularly limited in the embodiment of the present invention. The types of the lane lines comprise double solid lines, single solid lines, parallel virtual solid lines, single dotted lines and road edge lines.
S13: matching the lane line information of each lane in the image with the road information in the road map to determine the lane of the vehicle in the road map; the road information in the road map includes the number of lanes of the road.
In this embodiment, the method and the device may be mainly applied to roads with lower road grades, such as town roads, where the road map does not store lane line information, that is, does not store the location information and the type of a specific lane line, but stores the number of lane lines.
The specific implementation process of the step S13, as shown in fig. 2, includes the following steps S131 to S134:
s131, identifying the lane line information of each road in the image;
s132, judging whether special lane lines exist in the lane line types of all lanes in the image; the special lane line includes: double solid lines and road edge lines; if yes, executing S133, otherwise, executing S134;
and S133, determining the lane of the vehicle in the road map according to the position relation between the vehicle and the special lane line in the image and the number of lanes of the road in the road map.
For example, as shown in fig. 3(a), in the driving process of a vehicle, according to image information of a road where the vehicle is located, which is acquired at the current time, it may be determined that two lanes are respectively located on the left side and the right side of the vehicle, that is, the road in the image includes 3 lanes from lane 1 to lane 3, and types of 4 lanes from lane 1 to lane 3 are, from left to right, a single solid line, a double solid line, and a single dotted line in sequence, where a special lane line exists in the type of the lane line in the image, that is, the double solid line exists on the left side of the lane where the vehicle (triangle in the figure) is located, and according to the number of lanes of the road in the road map that the vehicle is located, that is, three lanes, that is, four lane lines, the leftmost lane of the.
And S134, positioning the vehicle on the historical positioning lane on the road map or the positioning lane after the vehicle changes the lane according to the historical positioning lane and the vehicle lane change condition within the time threshold range before the vehicle currently performs lane positioning.
Specifically, as shown in fig. 3(B), in the driving process of the vehicle, according to the image information of the road where the vehicle is located, which is acquired at the current time, two lanes may be determined on the left side and the right side of the vehicle, that is, the road in the image includes 3 lanes from lane 1 to lane 3, and the types of the 4 lanes from lane 1 to lane 3 are single dotted lines, and since the road with a lower grade, such as a town road, does not store lane line information in the road map, it cannot be determined which lane it is specifically located according to the type of the lane line, and the vehicle is located on the historically located lane on the road map or the located lane after the vehicle changes according to the historically located lane and the vehicle change condition within the time threshold T1 before the vehicle currently performs lane location. As shown in the position B in fig. 3B, the positioning lane of the vehicle can be positioned as the second lane on the left side according to the road image information at the position B, and the lane change condition can be determined according to the forward and reverse rotations of the steering wheel of the vehicle within the time threshold T1.
If the vehicle does not have a historical positioning lane within the time threshold range before the current lane positioning is carried out, the vehicle can be positioned on the lane on the specified road map based on the traffic rule and the number of lanes of the road in the road map.
In the third example, as shown in fig. 3(C), during the driving of the vehicle, two lanes on the left side and two lanes on the right side of the vehicle can be determined according to the image information of the road where the vehicle is located, which is acquired at the current time, namely, the road in the image comprises 3 lanes, the types of the 4 lanes are all single dotted lines, and the vehicle has no history positioning lane within the time threshold T1 before the lane positioning is currently carried out, then according to the road map the number of lanes of the road on which the vehicle is positioned is 6, then the number of lane lines is 7, according to the road attribute, the rightmost lane line is the road edge line, and the white dotted line on the road is 5, it is unclear whether the vehicle-locating position is traveling on lane 2 or lane 3, and the vehicle is located on the road on which the two broken lines are located on the specified right side, i.e., the third lane on the right side, for right-hand traffic according to the traffic rule.
Example two:
in view of the above problems in the prior art, an embodiment of the present invention provides a vehicle positioning method, as shown in fig. 4, the method includes the following steps S21-S24:
and S21, acquiring the satellite positioning information of the vehicle and the driving information of the vehicle to obtain the absolute position information of the vehicle, and determining the road of the vehicle in the road map according to the absolute position information of the vehicle.
And S22, acquiring image information of the road where the vehicle is located to obtain lane line information of each lane in the image.
S23, matching the lane line information of each lane in the image with the road information in the road map to determine the lane of the vehicle in the road map; the road information in the road map includes the number of lanes of the road.
The lane line information of each lane in the image further includes: the distance between the vehicle and the nearest lane line on the left side of the lane, or the distance between the vehicle and the nearest lane line on the right side of the lane, the method further includes S24:
and S24, determining the position of the vehicle on the lane on the road map according to the distance between the vehicle and the nearest lane line on the left side of the lane or the distance between the vehicle and the nearest lane line on the right side of the lane.
Example three:
based on the same inventive concept, an embodiment of the present invention further provides a vehicle navigation method, as shown in fig. 5, including the following steps S31-S34:
and S31, acquiring the satellite positioning information of the vehicle and the driving information of the vehicle to obtain the absolute position information of the vehicle, and determining the road of the vehicle in the road map according to the absolute position information of the vehicle.
And S32, acquiring image information of the road where the vehicle is located to obtain lane line information of each lane in the image.
S33, matching the lane line information of each lane in the image with the road information in the road map to determine the lane of the vehicle in the road map; the road information in the road map includes the number of lanes of the road.
And S34, generating a navigation route of a lane level according to the position information of the vehicle on the lane in the road map and the target position information of the vehicle.
Example four:
based on the same inventive concept, the embodiment of the invention also provides a vehicle positioning device and system, and as the principle of the problem solved by the vehicle positioning device and system is similar to the vehicle positioning method, the implementation of the device and system can refer to the implementation of the method, and repeated parts are not repeated.
An embodiment of the present invention provides a vehicle positioning apparatus 40, as shown in fig. 6, including:
the basic positioning module 41 is used for acquiring satellite positioning information of the vehicle and driving information of the vehicle to obtain absolute position information of the vehicle, and determining a road where the vehicle is located in a road map according to the absolute position information of the vehicle;
the image processing module 42 is used for acquiring image information of a road where the vehicle is located to obtain lane line information of each lane in the image;
the matching positioning module 43 matches the lane line information of each lane in the image with the road information in the road map to determine the lane of the vehicle in the road map; the road information in the road map includes the number of lanes of the road.
The matching and positioning module 43 is further configured to determine a position of the vehicle on the lane in the road map according to a distance between the vehicle and the nearest lane line on the left side of the lane in the image, or a distance between the vehicle and the nearest lane line on the right side of the lane in the image.
Example five:
based on the same inventive concept, an embodiment of the present invention provides a vehicle navigation device 50, as shown in fig. 7, including a vehicle positioning device 40, further including:
and a navigation route generating module 44, configured to generate a lane-level navigation route according to the position information of the vehicle on the lane in the road map and the target position information of the vehicle.
Example five:
based on the same inventive concept, the embodiment of the invention also provides a computer-readable storage medium, on which computer instructions are stored, and the instructions are executed by a processor to perform the vehicle positioning method and the vehicle navigation method.
Example six:
based on the same inventive concept, an embodiment of the present invention further provides a vehicle positioning apparatus, including: a processor, a memory for storing processor executable commands; wherein the processor is configured to perform the vehicle positioning method and the vehicle navigation method.
Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, or the like, may refer to an action and/or process of one or more processing or computing systems or similar devices that manipulates and transforms data represented as physical (e.g., electronic) quantities within the processing system's registers and memories into other data similarly represented as physical quantities within the processing system's memories, registers or other such information storage, transmission or display devices. Information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Of course, the processor and the storage medium may reside as discrete components in a user terminal.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. The present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A vehicle positioning method, characterized by comprising:
acquiring satellite positioning information of a vehicle and driving information of the vehicle to obtain absolute position information of the vehicle, and determining a road where the vehicle is located in a road map according to the absolute position information of the vehicle;
acquiring image information of a road where a vehicle is located to obtain lane line information of each lane in the image;
matching the lane line information of each lane in the image with the road information in the road map to determine the lane of the vehicle in the road map; the road information in the road map includes the number of lanes of the road.
2. The method of claim 1, wherein the lane line information for each lane in the image comprises: the type of the lane line and the position relation between the vehicle and the left and right lane lines of the lane.
3. The method of claim 2, wherein the lane line information for each lane in the image further comprises: the distance between the vehicle and the nearest lane line on the left side of the lane or the distance between the vehicle and the nearest lane line on the right side of the lane, correspondingly, the method further comprises the following steps:
and determining the position of the vehicle on the lane where the vehicle is located in the road map according to the distance between the vehicle and the nearest lane line on the left side of the lane where the vehicle is located in the image or the distance between the vehicle and the nearest lane line on the right side of the lane where the vehicle is located.
4. The method of claim 2, wherein matching lane line information for each lane in the image with road information in a road map to determine the lane in which the vehicle is located in the road map comprises:
if the lane line type of each lane in the image has a special lane line; the special lane line includes: double solid lines and road edge lines;
and determining the lane of the vehicle in the road map according to the position relation between the vehicle and the special lane line in the image and the number of lanes of the road in the road map.
5. The method of claim 4, wherein matching lane line information for each lane in the image with road information in a road map determines the lane in which the vehicle is located in the road map, further comprising:
if no special lane line exists in the lane line types of all lanes in the image;
and positioning the vehicle on the historical positioning lane on the road map or the positioning lane after the vehicle changes the lane according to the historical positioning lane and the vehicle lane change condition within the time threshold range before the vehicle performs the lane positioning currently.
6. A vehicle navigation method, comprising:
determining position information of the vehicle on a lane in a road map by a vehicle positioning method according to any one of claims 1-5;
and generating a lane-level navigation route according to the position information of the vehicle on the lane in the road map and the target position information of the vehicle.
7. A vehicle positioning device, comprising:
the basic positioning module is used for acquiring satellite positioning information of the vehicle and driving information of the vehicle to obtain absolute position information of the vehicle, and determining a road where the vehicle is located in a road map according to the absolute position information of the vehicle;
the image processing module is used for acquiring image information of a road where the vehicle is located to obtain lane line information of each lane in the image;
the matching positioning module is used for matching the lane line information of each lane in the image with the road information in the road map to determine the lane of the vehicle in the road map; the road information in the road map includes the number of lanes of the road.
8. A vehicular navigation apparatus, characterized by comprising the vehicular positioning apparatus according to claim 8, further comprising:
and the navigation route generating module is used for generating a lane-level navigation route according to the position information of the vehicle on the lane in the road map and the target position information of the vehicle.
9. A computer-readable storage medium having stored thereon computer instructions, which when executed by a processor, carry out a vehicle localization method according to any one of claims 1-5.
10. A vehicle positioning apparatus, comprising: a processor, a memory for storing processor executable commands; wherein the processor is configured to perform the vehicle localization method of any of claims 1-5.
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