Method for real-time tracking of indoor automobile by utilizing VeTrack system
A real-time tracking and car technology, applied in the field of vehicle positioning, can solve problems such as damage to the real-time tracking user experience, and achieve the effect of eliminating the interference of car jitter and user behavior, reducing computational complexity and ensuring real-time performance.
Inactive Publication Date: 2019-03-29
BEIJING JIAOTONG UNIV
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[0059] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0060] like Figure 1~6 As shown, the VeTrack system uses a smartphone's motion sensors and a map of the parking lot to track the car in real time. By extracting shadow trajectories and road skeleton maps, the VeTrack system greatly simplifies the 3D vehicle tracking problem, and uses a probabilistic framework to detect environmental landmarks to achieve real-time and accurate vehicle tracking.
[0061] The shadow trajectory simplifies the 3D vehicle tracking problem into a 2D shadow trajectory tracking problem, and further simplifies the 2D tracking problem into a 1D road skeleton tracking problem combined with the road skeleton graph. In order to effectively reduce the impact of noise and interference, the VeTrack system expresses the state of the vehicle as a probability form, and uses the sequential Monte Carlo model to track the vehicle in real time. F...
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The invention relates to a method for real-time tracking of an indoor automobile by utilizing a VeTrack system, comprising the following steps of: s1, obtaining motion sensor data by utilizing a motion sensor of a smart phone and obtaining a parking lot map and the map data; s2, simplifying an automobile movement track based on the motion sensor data, and simplifying the automobile movement trackinto a 2D motion track(that is, an automobile shadow track); converting the three-dimensional parking lot map into a multi-floor two-dimensional parking lot map; s3, using a road skeleton diagram to abstract a road into a one-dimensional, non-width line segment, expressing the automobile state in a probability distribution form, updating the automobile state by using a sequential Monte Carlo model(that is, a particle filter framework), continuously updating the state of a certain moment corresponding to each particle by using the particle filter framework, and obtaining a new particle state for real-time tracking of the automobile; and S4, detecting an environmental landmark by using an environmental landmark detection algorithm, and calibrating the automobile position in real time by a prediction rollback mechanism.
Description
technical field [0001] The invention relates to the technical field of vehicle positioning, in particular to a method for real-time tracking of indoor vehicles using a VeTrack system. Background technique [0002] Due to the widespread use of GPS systems, drivers of outdoor cars can know where they are at any time. However, when a car enters an indoor environment (such as an underground parking lot), it is difficult for the driver to know the real-time location of the car because the GPS signal cannot be obtained, so the driver often gets lost, or forgets the parking location and spends a lot of time looking for it. Real-time tracking of indoor cars can help drivers accurately locate the vehicle, quickly find available parking spaces through driving guidance, and finally record the parking location to provide return route navigation, which can greatly improve the indoor driving experience. [0003] However, implementing real-time tracking of cars in indoor environments may ...
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Login to View More IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 高睿鹏赵明民童瑶肖轩叶韬叶凡王亦洲罗国杰
Owner BEIJING JIAOTONG UNIV