[0066] Example 1
[0067] Car positioning system, including:
[0068] The vehicle-mounted intelligent system includes a parking space information acquisition device, a vehicle identification system, a vehicle communication module, a visual odometer, and an inertial navigation system. The parking space information acquisition device is used to collect parking space characteristic image information; the parking space information acquisition device selects a vehicle-mounted camera, preferably Surround view cameras (front-view cameras are also available) collect parking number information. For example, the 3DAVM parking system is equipped with four ultra-wide-angle cameras on the body to seamlessly splice the signals captured around the car. The vehicle-mounted identification system is used to identify the characteristic image information of the parking space, and based on the identified parking space information, perform positioning on the parking lot map of the vehicle-mounted intelligent system to form positioning one. The characteristic image includes, but is not limited to, a parking space number image, and may also be other characteristic images that can identify a location, such as parking lot architectural image information, parking lot organization image information, and the like. Image recognition uses segmentation of the parking space number (usually in the yellow area) and recognizes separately, such as through the neural network SVM algorithm. SVM is a new type of machine learning method proposed by Vapnik et al. in the early 1990s. This method can achieve good classification and promotion capabilities with few training samples. The invention applies the SVM algorithm to recognize the characters in the license plate, and the non-character feature extraction improves the recognition speed and can obtain a higher recognition rate. In this process, the method of eigenvalue square graph is used to match and confirm the number. The visual odometer and the inertial navigation system position the vehicle to form positioning two. The positioning 1 and positioning 2 are fused to form accurate position information of the vehicle; the visual odometer and inertial navigation system for positioning and fusion technology of the vehicle are the same as the patent document of the application publication number CN102538781A. The vehicle-mounted communication module is used to send the location information on the parking lot map of the vehicle-mounted intelligent system to the mobile terminal.
[0069] Automatically locate the parking position when parking, without manual intervention. Avoid that the user forgets to operate when parking, and there is no "vehicle positioning information" data when looking for a car, which makes it impossible to realize the car. The user cannot determine whether he will forget the location information of the car when parking, and he does not need manual intervention to avoid forgetting operations. At the same time, in the case that the parking position can be memorized, the intervention of early manual positioning is avoided.
[0070] The mobile terminal includes a user location information collection device, a mobile identification system, a display device, and a mobile communication module; the user location information collection device is used to collect characteristic image information of the user's location; the mobile communication module is used to receive information sent by the vehicle communication module Parking space location information; the mobile recognition system is used to identify the characteristic image information of the user's location, and locate the user's location on the parking lot map of the mobile terminal after identifying the feature value; according to the two already located on the parking lot map Location, route planning, and display through the display device to achieve accurate car finding.
[0071] The mobile terminal is a mobile phone, the mobile phone is installed with a positioning APP, the positioning APP calls the mobile phone camera to collect the characteristic image information of the user's location; the positioning APP calls the mobile phone communication module to receive the parking space characteristic image information sent by the vehicle communication module, and locate The APP recognition system recognizes the characteristic image information of the parking space and the characteristic image information of the location of the user, locates the location of the vehicle and the user on the parking lot map, and the positioning APP performs path planning according to the two locations that have been located on the parking lot map , The positioning APP displays the planned route through the mobile phone display device.
[0072] The method of using the above system to locate and find a car includes the steps:
[0073] Position the vehicle:
[0074] (1) After the vehicle arrives in the garage and parks in the parking space, the parking space characteristic image information is collected through the parking space information acquisition device of the on-board intelligent system; the parking space number of the parking space is captured through the on-board camera, or other characteristic images are taken.
[0075] (2) The on-board recognition system of the on-board intelligent system recognizes the parking space feature image information (parking space feature image information);
[0076] (3) According to the identified parking space feature image information, locate on the parking lot map of the vehicle intelligent system to form location one; the parking lot map is downloaded from the cloud map through the mobile terminal or the vehicle intelligent system comes with it.
[0077] (4) When the vehicle is traveling, use the visual odometer combined with the inertial navigation system to locate the parking position of the vehicle to form positioning two;
[0078] (5) Fuse the two positions of positioning one and positioning two to obtain accurate vehicle positioning information;
[0079] (6) Transmit the obtained vehicle positioning information to the mobile terminal through the vehicle communication module;
[0080] Position the user's location when looking for a car:
[0081] (1) The user collects the characteristic image information of the user's location through the mobile terminal;
[0082] (2) The mobile recognition system of the mobile terminal recognizes the characteristic image information of the user's location, and locates the user's location on the parking lot map;
[0083] route plan:
[0084] (1) The mobile terminal performs route planning and display (such as a mobile phone screen) according to the location of the vehicle located on the parking lot map and the location of the user, so as to realize accurate car search.
