Vehicle positioning method, device, equipment, storage medium and computer program product

Abstract

The invention discloses a vehicle positioning method, device and equipment, a storage medium and a computer program product, and the method comprises the steps: obtaining the relative position parameters of a vehicle and a plurality of target ground markers, and calculating the distance between the target ground markers according to the cosine theorem; according to the distance between the target ground markers and the corresponding relation table of the distance codes and the identification numbers, obtaining the identification numbers of the target ground markers; on the basis of the marker coordinate corresponding table, obtaining absolute coordinate values of the target ground markers; and determining the absolute coordinate of the vehicle according to the absolute coordinate value and the relative position parameter of each target ground marker. Compared with the prior art, the absolute coordinates of the vehicle are determined based on the corresponding relation table of the distance codes and the identification numbers and the marker coordinate corresponding table, and the positioning efficiency and accuracy of the automatic driving vehicle in the port container yard are effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a vehicle positioning method, device, equipment, storage medium and computer program product. Background Art

[0002] In the port environment, the positioning technology used by most autonomous driving companies is GPS-IMU technology, which works by correcting the accumulated error of dead reckoning within the interval of absolute position readings. In the GPS-IMU system, the IMU measures the changes in the position and direction of the vehicle, processes this information, and locates the vehicle through dead reckoning. There is an obvious disadvantage of IMU and general dead reckoning: the error accumulates over time. In the GPS-IMU system, the accumulated error of the IMU can be corrected at intervals by integrating the GPS readings. However, the port environment changes very quickly and frequently (the container stacking status is changing every moment, and large machinery is always moving), while the characteristics of other ground or fence markers are basically the same, which easily leads to the problem of low positioning efficiency and accuracy of autonomous driving vehicles in port container yards.

[0003] Therefore, there is an urgent need for a vehicle positioning method that can effectively improve the positioning efficiency and accuracy of autonomous driving vehicles in port container yards. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle positioning method, device, equipment, storage medium and computer program product, aiming to solve the technical problem of low positioning efficiency and accuracy of autonomous driving vehicles in port container yards in the prior art.

[0005] To achieve the above object, the present invention provides a vehicle positioning method, the method comprising the following steps:

[0006] Obtaining relative position parameters between the vehicle and a plurality of target ground markers, and calculating the distances between the target ground markers according to the law of cosines;

[0007] Obtaining the identification number of each of the target ground markers according to the correspondence table between the spacing and distance codes between the target ground markers and the identification numbers;

[0008] Based on the marker coordinate correspondence table, obtaining the absolute coordinate value of each target ground marker;

[0009] The absolute coordinates of the vehicle are determined by the absolute coordinate values ​​of each target ground marker and the relative position parameters.

[0010] Optionally, before the step of obtaining relative position parameters between the vehicle and a plurality of target ground markers and calculating the distances between the target ground markers according to the law of cosines, the method further includes:

[0011] Select and install ground markers at the edge of the port yard road;

[0012] Deploy ground markers by using a preset distance coding method, and generate a correspondence table between distance codes and identification numbers;

[0013] The real-time dynamic differential positioning technology is used to locate each of the ground markers to form a marker coordinate correspondence table.

[0014] Optionally, the step of obtaining relative position parameters between the vehicle and a plurality of target ground markers and calculating the distances between the target ground markers according to the law of cosines includes:

[0015] During the driving process of the vehicle, the laser radar is used to scan and obtain relative position parameters between the vehicle and multiple target ground markers, wherein the relative position parameters include the relative distance and relative angle between the vehicle and each of the target ground markers;

[0016] Based on the relative distance and the relative angle, the distance between each of the target ground markers is calculated using the cosine theorem.

[0017] Optionally, the step of obtaining the identification number of each of the target ground markers according to the correspondence table between the spacing between each of the target ground markers and the distance code and the identification number comprises:

[0018] Matching the distances between the target ground markers with the distance codes in the correspondence table between the distance codes and the identification numbers to obtain a matching result;

[0019] Determine the target distance code corresponding to the distance between the target ground markers according to the matching result;

[0020] Based on the target distance code, the identification number of each target ground marker is determined.

[0021] Optionally, the step of determining the absolute coordinates of the vehicle by using the absolute coordinate values ​​of each of the target ground markers and the relative position parameters comprises:

[0022] Extracting the relative distance between the vehicle and each of the target ground markers in the relative position parameter;

[0023] Using a distance formula between two points, constructing a target equation according to the absolute coordinate values ​​of each target ground marker and the relative distance between the vehicle and each target ground marker;

[0024] The absolute coordinates of the vehicle are determined based on the objective equation.

[0025] Optionally, the ground marker is a cylindrical marker.

[0026] In addition, to achieve the above object, the present invention also provides a vehicle positioning device, the device comprising:

[0027] A parameter measurement module is used to obtain relative position parameters between the vehicle and a plurality of target ground markers, and calculate the distance between each of the target ground markers according to the law of cosines;

[0028] A number determination module, used to obtain the identification number of each of the target ground markers according to the corresponding relationship table between the spacing between each of the target ground markers and the distance code and the identification number;

[0029] A coordinate determination module, used to obtain the absolute coordinate value of each target ground marker based on the marker coordinate correspondence table;

[0030] The result output module is used to determine the absolute coordinates of the vehicle through the absolute coordinate values ​​of each target ground marker and the relative position parameters.

[0031] In addition, to achieve the above objectives, the present invention also proposes a vehicle positioning device, which includes: a memory, a processor, and a vehicle positioning program stored in the memory and executable on the processor, wherein the vehicle positioning program is configured to implement the steps of the vehicle positioning method described above.

[0032] In addition, to achieve the above-mentioned purpose, the present invention further proposes a storage medium, on which a vehicle positioning program is stored, and when the vehicle positioning program is executed by a processor, the steps of the vehicle positioning method described above are implemented.

[0033] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the vehicle positioning method described above are implemented.

[0034] The present invention discloses a method for obtaining relative position parameters between a vehicle and a plurality of target ground markers, and calculating the spacing between each of the target ground markers according to the law of cosines; obtaining the identification number of each of the target ground markers according to the spacing between each of the target ground markers and the correspondence table between the distance code and the identification number; obtaining the absolute coordinate value of each of the target ground markers based on the marker coordinate correspondence table; and determining the absolute coordinates of the vehicle through the absolute coordinate value of each of the target ground markers and the relative position parameters. Since the present invention determines the spacing between each of the target ground markers through the relative position parameters between the vehicle and the plurality of target ground markers, and then obtains the identification number of each of the target ground markers based on the correspondence table between the distance code and the identification number, and then obtains the absolute coordinate value of each of the target ground markers based on the marker coordinate correspondence table to determine the absolute coordinates of the vehicle, compared with the prior art, the present invention effectively improves the positioning efficiency and accuracy of autonomous driving vehicles in port container yards. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a flow chart of a first embodiment of a vehicle positioning method of the present invention;

[0036] Figure 2 This is a scene example diagram of the installation of ground markers in the vehicle positioning method of the present invention;

[0037] Figure 3 It is a schematic diagram of the distance between target ground markers calculated according to the cosine theorem of the present invention;

[0038] Figure 4 A schematic diagram of determining the absolute coordinates of a vehicle by using the absolute coordinate values ​​and relative position parameters of each target ground marker in the present invention;

[0039] Figure 5 It is a flow chart of the second embodiment of the vehicle positioning method of the present invention;

[0040] Figure 6 It is a structural block diagram of a first embodiment of a vehicle positioning device of the present invention;

[0041] Figure 7 It is a structural diagram of a vehicle positioning device in a hardware operating environment involved in an embodiment of the present invention.

[0042] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0044] The embodiment of the present invention provides a vehicle positioning method, referring to Figure 1 , Figure 1 FIG. 1 is a flow chart of a first embodiment of a vehicle positioning method according to the present invention.

[0045] In this embodiment, the vehicle positioning method includes steps S10 to S40:

[0046] Step S10: Obtain relative position parameters between the vehicle and a plurality of target ground markers, and calculate the distances between the target ground markers according to the law of cosines.

[0047] It should be noted that the execution subject of this embodiment can be a computer server device with data processing, network communication and program running functions applied to the vehicle positioning scenario, such as a server, a tablet computer, a smart phone, a vehicle-mounted mobile device, etc., or an electronic device capable of realizing the above functions, a vehicle positioning device, etc. The following takes the vehicle positioning device as an example to illustrate this embodiment and the following embodiments.

[0048] It should be understood that the above-mentioned target ground marker can be a ground marker that can be scanned by the laser radar while the vehicle is driving. The above-mentioned ground marker can be a cylindrical marker that is conducive to being recognized by the laser radar and is stably installed and does not move.

[0049] It should be noted that the above-mentioned ground markers can be ground markers deployed at the edge of the port yard road in a preset distance coding manner to assist the autonomous driving vehicle in locating its own position and body posture. Figure 2 , Figure 2 This is a scene example diagram of the installation of ground markers in the vehicle positioning method of the present invention. In the figure, a rectangular container yard is taken as an example, and ground markers are installed in the container yard.

[0050] It is understandable that the above-mentioned preset distance coding method can be a custom setting, and this embodiment does not limit this.

[0051] In a specific implementation, during the driving process of the vehicle, a laser radar is used to scan and obtain relative position parameters between the vehicle and multiple target ground markers, wherein the relative position parameters include the relative distance and relative angle between the vehicle and each target ground marker; based on the relative distance and the relative angle, the distance between each target ground marker is calculated using the cosine theorem. Figure 3 , Figure 3The present invention is a schematic diagram of the spacing between target ground markers calculated according to the law of cosines. In the figure, during the driving process of the vehicle, the laser radar is used to scan and obtain the relative position parameters of the vehicle and the four target ground markers. Lx1, Lx2 and Lx3 are the distances between the markers, that is, the spacing between the target ground markers. In the figure, θ1, θ2 and θ3 are the relative angles between the autonomous driving vehicle and the target ground markers. La, Lb, Lc and Ld are the relative distances between the autonomous driving vehicle and the target ground markers.

[0052]

[0053] Step S20: Obtain the identification number of each of the target ground markers according to the correspondence table between the spacing between each of the target ground markers and the distance code and the identification number.

[0054] It should be noted that the preset distance coding method of this embodiment is that 4 ground markers form 3 distance parameters, with 3 distance parameters as a group. The distance parameters between different groups are inconsistent. Through the different distance parameters, a correspondence table between distance coding and identification number is formed, as shown in Table 1.

[0055] Table 1

[0056]

[0057]

[0058] In the table, L1, L2, ..., represent the distances between ground markers, and S1, S2 ... S7 represent the identification numbers of the ground markers.

[0059] In a specific implementation, the spacing between the target ground markers can be matched with the distance codes in the correspondence table between distance codes and identification numbers to obtain a matching result; the target distance code corresponding to the spacing between the target ground markers is determined based on the matching result; and the identification number of each target ground marker is determined based on the target distance code.

[0060] Step S30: Based on the marker coordinate correspondence table, the absolute coordinate value of each target ground marker is obtained.

[0061] For example, the above-mentioned marker coordinate correspondence table is shown in Table 2.

[0062] Table 2

[0063] Ground marking number Absolute coordinates of ground markers S1 (x1, y1) S2 (x2, y2) S3 (x3, y3) S4 (x4, y4) ... ...

[0064] Step S40: Determine the absolute coordinates of the vehicle through the absolute coordinate values ​​of each target ground marker and the relative position parameters.

[0065] In a specific implementation, the relative distance between the vehicle and each target ground marker in the relative position parameter can be extracted; a target equation can be constructed based on the absolute coordinate value of each target ground marker and the relative distance between the vehicle and each target ground marker using the distance formula between two points; and the absolute coordinates of the vehicle can be determined based on the target equation. Figure 4 , Figure 4 The present invention is a schematic diagram of determining the absolute coordinates of a vehicle through the absolute coordinate values ​​and relative position parameters of each target ground marker. i ,y i ) represents the absolute coordinate value of each target ground marker, (x, y) represents the absolute coordinate of the autonomous driving vehicle, L i Indicates the relative distance between the vehicle and each of the target ground markers.

[0066] The distance formula between the above two points is: (x i 2 -x 2 )+(y i 2 -y 2 )=L i 2 .

[0067] For example, if the spacings Lx1, Lx2 and Lx3 between the target ground markers are matched with the distance codes in the corresponding relationship table of the identification numbers, and the matching result determines that the target distance codes corresponding to the spacings between the target ground markers are L1 L1 L2, then the identification numbers of the target ground markers are S2 S3 S4 S5, and then based on the marker coordinate correspondence table, the absolute coordinate values ​​S2 (x2, y2), S3 (x3, y3), S4 (x3, y3), S5 (x3, y3) of each target ground marker are obtained, and finally the absolute coordinates of the vehicle are determined through the absolute coordinate values ​​of each target ground marker and the relative position parameters.

[0068] This embodiment discloses obtaining the relative position parameters between the vehicle and multiple target ground markers, and calculating the spacing between each of the target ground markers according to the law of cosines; obtaining the identification number of each of the target ground markers according to the spacing between each of the target ground markers and the correspondence table between the distance code and the identification number; obtaining the absolute coordinate value of each of the target ground markers based on the marker coordinate correspondence table; and determining the absolute coordinates of the vehicle through the absolute coordinate value of each of the target ground markers and the relative position parameters. Since this embodiment determines the spacing between each of the target ground markers through the relative position parameters between the vehicle and multiple target ground markers, and then obtains the identification number of each target ground marker based on the correspondence table between the distance code and the identification number, and then obtains the absolute coordinate value of each target ground marker based on the marker coordinate correspondence table to determine the absolute coordinates of the vehicle, compared with the prior art, this embodiment effectively improves the positioning efficiency and accuracy of autonomous driving vehicles in port container yards.

[0069] refer to Figure 5 , Figure 5 FIG. 4 is a flow chart of a second embodiment of a vehicle positioning method according to the present invention.

[0070] Based on the first embodiment described above, in this embodiment, before step S10, steps S01 to S03 are further included:

[0071] Step S01: Select and install ground markers at the edge of the port yard road.

[0072] Step S02: deploy ground markers using a preset distance coding method, and generate a correspondence table between distance codes and identification numbers.

[0073] Step S03: Utilize real-time dynamic differential positioning technology to locate each of the ground markers to form a marker coordinate correspondence table.

[0074] This embodiment discloses selecting and installing ground markers at the edge of the port yard road; deploying ground markers by preset distance coding method, generating a correspondence table between distance coding and identification number; locating each of the ground markers by using real-time dynamic differential positioning technology, forming a marker coordinate correspondence table; obtaining the relative position parameters between the vehicle and multiple target ground markers, and calculating the spacing between each of the target ground markers according to the law of cosines; obtaining the identification number of each of the target ground markers according to the spacing between each of the target ground markers and the correspondence table between distance coding and identification number; obtaining the absolute coordinate value of each of the target ground markers based on the marker coordinate correspondence table; determining the absolute coordinates of the vehicle through the absolute coordinate value of each of the target ground markers and the relative position parameters. Compared with the prior art, this embodiment simplifies the autonomous driving positioning algorithm by deploying ground markers by specifying distance coding method, as well as the positioning algorithm, thereby improving the positioning efficiency and accuracy of the autonomous driving vehicle.

[0075] In addition, an embodiment of the present invention further provides a storage medium, on which a vehicle positioning program is stored. When the vehicle positioning program is executed by a processor, the steps of the vehicle positioning method described above are implemented.

[0076] Reference Figure 6 , Figure 6 This is a structural block diagram of the first embodiment of the vehicle positioning device of the present invention.

[0077] like Figure 6 As shown, the vehicle positioning device proposed in the embodiment of the present invention includes: a parameter measurement module 601, a number determination module 602, a coordinate determination module 603 and a result output module 604.

[0078] The parameter measurement module 601 is used to obtain the relative position parameters between the vehicle and multiple target ground markers, and calculate the distance between each of the target ground markers according to the cosine theorem.

[0079] The number determination module 602 is used to obtain the identification number of each target ground marker according to the spacing between each target ground marker and the correspondence table between the distance code and the identification number.

[0080] The coordinate determination module 603 is used to obtain the absolute coordinate value of each target ground marker based on the marker coordinate correspondence table.

[0081] The result output module 604 is used to determine the absolute coordinates of the vehicle through the absolute coordinate values ​​of each target ground marker and the relative position parameters.

[0082] The parameter measurement module 601 is also used to scan through a laser radar during the vehicle's driving process to obtain the relative position parameters of the vehicle and multiple target ground markers, and the relative position parameters include the relative distance and relative angle between the vehicle and each of the target ground markers; based on the relative distance and the relative angle, the cosine theorem is used to calculate the spacing between each of the target ground markers.

[0083] The number determination module 602 is also used to match the spacing between the target ground markers with the distance codes in the correspondence table between the distance codes and identification numbers to obtain a matching result; determine the target distance code corresponding to the spacing between the target ground markers based on the matching result; and determine the identification number of each target ground marker based on the target distance code.

[0084] The result output module 604 is also used to extract the relative distance between the vehicle and each target ground marker in the relative position parameter; construct a target equation based on the absolute coordinate value of each target ground marker and the relative distance between the vehicle and each target ground marker using the distance formula between two points; and determine the absolute coordinates of the vehicle based on the target equation.

[0085] The embodiment of the present device discloses obtaining the relative position parameters between the vehicle and multiple target ground markers, and calculating the distance between each of the target ground markers according to the law of cosines; obtaining the identification number of each of the target ground markers according to the distance between each of the target ground markers and the correspondence table between the distance code and the identification number; obtaining the absolute coordinate value of each of the target ground markers based on the marker coordinate correspondence table; and determining the absolute coordinates of the vehicle through the absolute coordinate value of each of the target ground markers and the relative position parameters. Since the embodiment of the present device determines the distance between each of the target ground markers through the relative position parameters between the vehicle and multiple target ground markers, and then obtains the identification number of each of the target ground markers based on the correspondence table between the distance code and the identification number, and then obtains the absolute coordinate value of each of the target ground markers based on the marker coordinate correspondence table to determine the absolute coordinates of the vehicle, compared with the prior art, the embodiment of the present device effectively improves the positioning efficiency and accuracy of autonomous driving vehicles in port container yards.

[0086] Based on the first embodiment of the vehicle positioning device of the present invention, a second embodiment of the vehicle positioning device of the present invention is proposed.

[0087] In this embodiment, the parameter measurement module 601 is also used to select and install ground markers at the edge of the port yard road; deploy ground markers through a preset distance coding method to generate a correspondence table between distance codes and identification numbers; and use real-time dynamic differential positioning technology to locate each of the ground markers to form a marker coordinate correspondence table.

[0088] Other embodiments or specific implementations of the vehicle positioning device of the present invention can refer to the above-mentioned method embodiments, which will not be described in detail here.

[0089] The present application provides a vehicle positioning device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle positioning method in the above-mentioned embodiment 1.

[0090] Reference below Figure 7 , which shows a schematic diagram of the structure of a vehicle positioning device suitable for implementing an embodiment of the present application. The vehicle positioning device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The vehicle positioning device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0091] like Figure 7As shown, the vehicle positioning device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the vehicle positioning device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle positioning device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle positioning device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0092] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0093] The vehicle positioning device provided by the present application adopts the vehicle positioning method in the above embodiment, which can solve the technical problem of low positioning efficiency and accuracy of autonomous driving vehicles in port container yards in the prior art. Compared with the prior art, the beneficial effects of the vehicle positioning device provided by the present application are the same as the beneficial effects of the vehicle positioning method provided by the above embodiment, and the other technical features in the vehicle positioning device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0094] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0095] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0096] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0097] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0098] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned vehicle positioning method when executed by a processor.

[0099] The computer program product provided by the present application can solve the technical problem of low efficiency and accuracy in positioning of autonomous driving vehicles in port container yards in the prior art. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the vehicle positioning method provided by the above embodiment, which will not be described in detail here.

[0100] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0101] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0102] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0103] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle positioning method, characterized in that: The method comprises: Obtaining relative position parameters between the vehicle and a plurality of target ground markers, and calculating the distances between the target ground markers according to the law of cosines; Obtaining the identification number of each of the target ground markers according to the correspondence table between the spacing and distance codes between the target ground markers and the identification numbers; Based on the marker coordinate correspondence table, obtaining the absolute coordinate value of each target ground marker; The absolute coordinates of the vehicle are determined by the absolute coordinate values ​​of each target ground marker and the relative position parameters.

2. The vehicle positioning method according to claim 1, characterized in that: Before the step of obtaining relative position parameters between the vehicle and a plurality of target ground markers and calculating the distances between the target ground markers according to the law of cosines, the method further includes: Select and install ground markers at the edge of the port yard road; Deploy ground markers by using a preset distance coding method, and generate a correspondence table between distance codes and identification numbers; The real-time dynamic differential positioning technology is used to locate each of the ground markers to form a marker coordinate correspondence table.

3. The vehicle positioning method according to claim 1, characterized in that: The step of obtaining relative position parameters between the vehicle and a plurality of target ground markers and calculating the distances between the target ground markers according to the law of cosines includes: During the driving process of the vehicle, the laser radar is used to scan and obtain relative position parameters between the vehicle and multiple target ground markers, wherein the relative position parameters include the relative distance and relative angle between the vehicle and each of the target ground markers; Based on the relative distance and the relative angle, the distance between each of the target ground markers is calculated using the cosine theorem.

4. The vehicle positioning method according to claim 1, characterized in that: The step of obtaining the identification number of each of the target ground markers according to the correspondence table between the spacing and distance codes between the target ground markers and the identification numbers comprises: Matching the distances between the target ground markers with the distance codes in the correspondence table between the distance codes and the identification numbers to obtain a matching result; Determine the target distance code corresponding to the distance between the target ground markers according to the matching result; Based on the target distance code, the identification number of each target ground marker is determined.

5. The vehicle positioning method according to claim 3, characterized in that: The step of determining the absolute coordinates of the vehicle by using the absolute coordinate values ​​of each of the target ground markers and the relative position parameters comprises: Extracting the relative distance between the vehicle and each of the target ground markers in the relative position parameter; Using a distance formula between two points, constructing a target equation according to the absolute coordinate values ​​of each target ground marker and the relative distance between the vehicle and each target ground marker; The absolute coordinates of the vehicle are determined based on the objective equation.

6. The vehicle positioning method according to claim 2, characterized in that: The ground marker is a cylindrical marker.

7. A vehicle positioning device, characterized in that: The device comprises: A parameter measurement module is used to obtain relative position parameters between the vehicle and a plurality of target ground markers, and calculate the distance between each of the target ground markers according to the law of cosines; A number determination module, used to obtain the identification number of each of the target ground markers according to the corresponding relationship table between the spacing between each of the target ground markers and the distance code and the identification number; A coordinate determination module, used to obtain the absolute coordinate value of each target ground marker based on the marker coordinate correspondence table; The result output module is used to determine the absolute coordinates of the vehicle through the absolute coordinate values ​​of each target ground marker and the relative position parameters.

8. A vehicle positioning device, characterized in that: The device comprises: a memory, a processor, and a vehicle positioning program stored in the memory and executable on the processor, wherein the vehicle positioning program is configured to implement the steps of the vehicle positioning method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a vehicle positioning program, and when the vehicle positioning program is executed by the processor, the steps of the vehicle positioning method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the vehicle positioning method according to any one of claims 1 to 6 are implemented.

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