Vehicle positioning method and system for fixed parking scene

Abstract

The present invention relates to a vehicle positioning method and system for a fixed parking scene. The method comprises: a map acquisition step, in which a vehicle acquires a parking scene map from the cloud according to a preset trigger condition; a first positioning step, in which the vehicle's first geographic location information is acquired according to a first marker in the fixed parking scene, the first geographic location information is matched with the parking scene map, and a first vehicle posture of the vehicle in the parking scene map is obtained; and a second positioning step, in which the vehicle's second geographic location information is acquired according to a second marker in the fixed parking scene, the second geographic location information is matched with the parking scene map, and a second vehicle posture of the vehicle in the parking scene map is obtained. According to the present invention, it is possible to achieve both planar and spatial vehicle positioning, and to achieve precise positioning and accurate navigation in a fixed parking scene.

Description

Technical Field

[0001] The present invention relates to vehicle control technology, and in particular to a vehicle positioning method for a fixed parking scene and a vehicle positioning system for a fixed parking scene. Background Art

[0002] Automatic parking means a vehicle automatically parks into a parking space without manual intervention. Different automatic parking systems typically use different methods to detect objects around the vehicle. The vehicle detects other parked vehicles, the size of the parking space, and the distance to the curb before automatically maneuvering into the space.

[0003] The above-mentioned automatic parking technologies are usually for common parking spaces. For some fixed scenarios, especially those that need to consider both plane and space, such as battery swap stations (usually battery swap stations are higher than the road surface and have slopes), dock parking / boarding / disembarking scenarios (due to the high and low water levels, the dock and the shore are usually not flat and have slopes), and some multi-story parking garages, no relevant automatic parking technologies have been proposed. Summary of the Invention

[0004] In view of the above problems, the present invention aims to provide a vehicle positioning method for a fixed parking scene and a vehicle positioning system for a fixed parking scene that can achieve a combination of plane positioning and space positioning.

[0005] A vehicle positioning method for a fixed parking scene according to one aspect of the present invention is characterized in that the method comprises:

[0006] Map acquisition step: Based on preset trigger conditions, the vehicle obtains the parking scene map from the cloud;

[0007] a first positioning step of acquiring first geographic location information of the vehicle based on a first marker in a fixed parking scene, matching the first geographic location information with the parking scene map, and obtaining a first vehicle posture of the vehicle in the parking scene map; and

[0008] The second positioning step is to obtain the second geographic location information of the vehicle based on the second marker in the fixed parking scene, match the second geographic location information with the parking scene map, and obtain the second vehicle posture of the vehicle in the parking scene map.

[0009] Optionally, the first marker is a plane marker in a fixed parking scene, and the second marker is a space marker in a fixed parking scene.

[0010] Optionally, the first marker is an outdoor marker in a fixed parking scene, and the second marker is an indoor marker in a fixed parking scene.

[0011] Optionally, in the map acquisition step, according to a preset trigger condition, the vehicle is triggered to obtain parking scene attribute information of a fixed parking scene, and based on the parking scene attribute information, the vehicle obtains a parking scene map of the fixed parking scene from the cloud.

[0012] Optionally, the first identifier includes one or more of the following:

[0013] Positioning markers set on the ground side of fixed parking scenes;

[0014] Positioning markers set around the fixed parking scene; and

[0015] Positioning markers are set on the upper side of the fixed parking scene.

[0016] The second identifier includes one or more of the following:

[0017] Positioning markers set on the ground side of fixed parking scenes;

[0018] Positioning markers set around the fixed parking scene; and

[0019] A positioning marker set on the upper side of a fixed parking scene.

[0020] Optionally, in the second positioning step, the second geographic location information of the vehicle is obtained based on the spatial marker, and the second geographic location information is converted from spatial coordinates to plane coordinates through spatial mapping to match with the parking scene map.

[0021] Optionally, the planar marker is one or more of the following:

[0022] Arrow-shaped marker;

[0023] Single right-angled shape marker;

[0024] triangular markers; and

[0025] Polygonal marker.

[0026] Optionally, the space marker is one or more of the following:

[0027] QR code identifiers;

[0028] Arrow-shaped marker;

[0029] Single right-angled shape marker;

[0030] triangular marker;

[0031] polygonal markers; and

[0032] Fixed objects that were already set up in the parking scene.

[0033] Optionally, the preset triggering condition includes:

[0034] Active triggering conditions initiated by the user; and / or

[0035] Passive trigger conditions triggered by vehicle behavior.

[0036] A vehicle positioning system for a fixed parking scene according to one aspect of the present invention is characterized by comprising:

[0037] The map acquisition module triggers the acquisition of parking scene maps from the cloud according to preset trigger conditions;

[0038] a first positioning module, which obtains first geographic location information of the vehicle based on a first marker in a fixed parking scene, matches the first geographic location information with the parking scene map, and obtains a first vehicle posture of the vehicle in the parking scene map; and

[0039] The second positioning module obtains the second geographic location information of the vehicle according to the second marker in the fixed parking scene, matches the second geographic location information with the parking scene map, and obtains the second vehicle posture of the vehicle in the parking scene map.

[0040] Optionally, the first positioning module is a planar positioning module for realizing planar positioning, the first marker is a planar marker in a fixed parking scene, and the second positioning module is a spatial positioning module for realizing spatial positioning, and the second marker is a spatial marker in a fixed parking scene.

[0041] Optionally, the first positioning module is a positioning module for outdoor positioning, the first marker is an outdoor marker in a fixed parking scene, and the second positioning module is a positioning module for indoor positioning, and the second marker is an indoor marker in a fixed parking scene.

[0042] Optionally, the map acquisition module is triggered according to a preset trigger condition to obtain parking scene attribute information of a fixed parking scene, and based on the parking scene attribute information, obtains a parking scene map of the fixed parking scene from the cloud.

[0043] Optionally, the first identifier includes one or more of the following:

[0044] Positioning markers set on the ground side of fixed parking scenes;

[0045] Positioning markers set around the fixed parking scene; and

[0046] Positioning markers are set on the upper side of the fixed parking scene.

[0047] The second identifier includes one or more of the following:

[0048] Positioning markers set on the ground side of fixed parking scenes;

[0049] Positioning markers set around the fixed parking scene; and

[0050] A positioning marker set on the upper side of a fixed parking scene.

[0051] Optionally, the second positioning module obtains the second geographic location information of the vehicle based on the spatial marker, and converts the second geographic location information from spatial coordinates to plane coordinates through spatial mapping to match it with the parking scene map.

[0052] Optionally, the planar marker is one or more of the following:

[0053] Arrow-shaped marker;

[0054] Single right-angled shape marker;

[0055] triangular markers; and

[0056] Polygonal marker.

[0057] Optionally, the space marker is one or more of the following:

[0058] QR code identifiers;

[0059] Arrow-shaped marker;

[0060] Single right-angled shape marker;

[0061] triangular marker;

[0062] polygonal markers; and

[0063] Fixed objects that were already set up in the parking scene.

[0064] A vehicle according to one aspect of the present invention is characterized in that it comprises the vehicle positioning system for fixing a parking scene.

[0065] A computer-readable medium according to one aspect of the present invention stores a computer program thereon, wherein the computer program, when executed by a processor, implements the vehicle positioning method for a fixed parking scene.

[0066] A computer device according to one aspect of the present invention includes a storage module, a processor, and a computer program stored on the storage module and executable on the processor, wherein the processor implements the vehicle positioning method for a fixed parking scene when executing the computer program.

[0067] As described above, the vehicle positioning method and system for fixed parking scenarios according to the present invention provide not only two-dimensional (ground) positioning but also spatial positioning. For fixed parking scenarios encompassing different planes, three-dimensional parking requirements can be met by planning a first navigation path corresponding to the plane and a second navigation path corresponding to the space. Furthermore, because the latest and most accurate parking scenario maps can be obtained from the cloud in real time, high-precision map matching can be achieved, providing a more accurate parking path.

[0068] The vehicle positioning method for a fixed parking scene and the vehicle positioning system for a fixed parking scene of the present invention can be applied to various scenes requiring a combination of plane positioning and space positioning, that is, scenes including slopes. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 3 is a flow chart showing a vehicle positioning method for a fixed parking scene according to the present invention.

[0070] Figure 2 2 is a block diagram showing a vehicle positioning system for a fixed parking scene according to the present invention.

[0071] Figure 3 It is a flowchart showing a vehicle positioning method in a battery swap station scenario.

[0072] Figure 4 This is a diagram showing an example of off-site markers and on-site markers.

[0073] Figure 5 It is a schematic diagram showing the switching between plane positioning and slope positioning.

[0074] Figure 6 It is a structural block diagram of the vehicle positioning system in the battery swap station scenario. DETAILED DESCRIPTION

[0075] The following describes some of the various embodiments of the present invention, which are intended to provide a basic understanding of the present invention, but are not intended to identify the key or decisive elements of the present invention or to limit the scope of protection.

[0076] For the purpose of brevity and illustration, the principles of the present invention are described herein primarily with reference to exemplary embodiments thereof. However, those skilled in the art will readily recognize that the same principles are equally applicable to and can be implemented in all types of vehicle positioning methods and vehicle positioning systems for fixed parking scenarios, and that any such variations do not depart from the true spirit and scope of this patent application.

[0077] Moreover, in the following description, reference is made to the accompanying drawings, which illustrate specific exemplary embodiments. Electrical, mechanical, logical, and structural changes may be made to these embodiments without departing from the spirit and scope of the present invention. In addition, although a feature of the present invention is disclosed in conjunction with only one of several embodiments, it may be desirable and / or advantageous to combine this feature with one or more other features of other embodiments as may be desired and / or advantageous for any given or identifiable function. Therefore, the following description should not be regarded in a limiting sense, and the scope of the present invention is defined by the appended claims and their equivalents.

[0078] Terms such as “having” and “including” indicate that in addition to the units (modules) and steps directly and clearly stated in the specification and claims, the technical solution of the present invention does not exclude the situation where it has other units (modules) and steps that are not directly or clearly stated.

[0079] Figure 1 It is a flow chart of the vehicle positioning method for a fixed parking scene of the present invention.

[0080] like Figure 1 As shown, the vehicle positioning method for a fixed parking scene of the present invention includes the following steps:

[0081] Map acquisition step S100: triggering the vehicle to obtain a parking scene map from the cloud according to a preset trigger condition;

[0082] First positioning step S200: obtaining first geographic location information of the vehicle according to a first marker in a fixed parking scene, matching the first geographic location information with the parking scene map, and obtaining a first vehicle posture of the vehicle in the parking scene map; and

[0083] Second positioning step S300: acquiring second geographic location information of the vehicle based on a second marker in the fixed parking scene, matching the second geographic location information with the parking scene map, and obtaining a second vehicle posture of the vehicle in the parking scene map.

[0084] In map acquisition step S100, a preset trigger condition triggers the acquisition of parking scene attribute information for a fixed parking scene. Based on this parking scene attribute information, a parking scene map for the fixed parking scene is retrieved from the cloud. The purpose of map acquisition step S100 is to obtain the latest and most accurate parking scene map for the fixed parking scene, enabling more accurate navigation route planning in the subsequent first positioning step S200 and second positioning step S300.

[0085] Here, the preset trigger conditions include: active trigger conditions initiated by the user; and / or passive trigger conditions triggered by vehicle behavior. For example, an active trigger condition initiated by the user may be a user-initiated request, specifically, a user sending a command to the vehicle via a mobile phone, and the vehicle, in response to the command, initiates a request to the cloud for a parking scene map. A passive trigger condition triggered by vehicle behavior may be a passive trigger condition set based on vehicle behavior, such as a vehicle's arrival at a fixed parking scene triggering a request to the cloud for a parking scene map.

[0086] As an alternative to the map acquisition step S100, the following method can also be adopted: due to the limitation of the amount of data transmitted by the cloud, a default parking scene map can be designed at the battery swap station to be loaded at the beginning of the program, and only the measurement values ​​due to construction errors exceeding a certain threshold are sent to update the parking scene map. For example, a coordinate system separation design is used, and the first marker uses one coordinate system during construction, and the second marker uses another coordinate system. The displacement between the two coordinate systems is sent from the cloud.

[0087] In one embodiment, the first marker is a planar marker in a fixed parking scenario, and the second marker is a spatial marker in a fixed parking scenario. Thus, in the first positioning step S200, the first geographic location information (planar location information) of the vehicle is obtained based on the planar marker. This first geographic location information is then matched with the parking scenario map to calculate the first vehicle pose (planar pose) of the vehicle within the parking scenario map. In the second positioning step S300, the second geographic location information (spatial location information) of the vehicle is obtained based on the spatial marker. This second geographic location information is then matched with the parking scenario map to calculate the second vehicle pose (spatial pose) of the vehicle within the parking scenario map.

[0088] In the second positioning step S300, spatial positioning is performed, specifically including obtaining the vehicle's second geographic location information (i.e., spatial position information) based on the spatial markers, and converting the second geographic location information from spatial coordinates to planar coordinates through spatial mapping for matching with the parking scene map. As an example of converting spatial coordinates to planar coordinates, for example, the 6D pose (x, y, z, yaw, roll, pitch) is projected onto a planar coordinate system (x, y, yaw). The yaw angle in these two coordinate systems does not necessarily refer to the same angle.

[0089] In another embodiment, the first marker is an outdoor marker in a fixed parking scenario, and the second marker is an indoor marker in a fixed parking scenario. Thus, in the first positioning step S200, the vehicle's first geographic location information (outdoor location information) is obtained based on the outdoor marker. This first geographic location information is then matched with the parking scenario map to obtain the vehicle's first vehicle pose (outdoor pose) within the parking scenario map. In the second positioning step S300, the vehicle's second geographic location information (indoor location information) is obtained based on the indoor marker. This second geographic location information is then matched with the parking scenario map to obtain the vehicle's second vehicle pose (indoor pose) within the parking scenario map.

[0090] In addition, after obtaining the first vehicle posture in the first positioning step S200, a first navigation path can be planned based on the first vehicle posture and the first target location to navigate the vehicle to the first target location. Similarly, after obtaining the second geographic location information in the second positioning step S300, a second navigation path can be planned based on the second vehicle posture and the second target location to navigate the vehicle to the second target location.

[0091] Here, regarding the setting position of the planar marker, as an example, the planar marker may include one or more of the following combinations: a positioning marker set on the ground side of the fixed parking scene; a positioning marker set on the surrounding side of the fixed parking scene; and a positioning marker set on the upper side of the fixed parking scene.

[0092] Regarding the setting location of the spatial marker, as an example, the spatial marker includes one or more of the following combinations: a positioning marker set on the ground side of the fixed parking scene; a positioning marker set on the surrounding side of the fixed parking scene; and a positioning marker set on the upper side of the fixed parking scene.

[0093] Next, regarding the shape of the planar marker, one or more of the following may be used: an arrow-shaped marker; a single right-angled marker; a triangular marker; and a polygonal marker. Regarding the shape of the spatial marker, one or more of the following may be used: a QR code marker; an arrow-shaped marker; a single right-angled marker; a triangular marker; and a polygonal marker.

[0094] Figure 2 It is a structural block diagram of the vehicle positioning system for fixed parking scenes of the present invention.

[0095] like Figure 2 As shown, the vehicle positioning system for a fixed parking scene of the present invention is characterized by comprising:

[0096] The map acquisition module 100 triggers the acquisition of a parking scene map from the cloud according to a preset trigger condition;

[0097] A first positioning module 200 acquires first geographic location information of the vehicle according to the first identifier, matches the first geographic location information with the parking scene map, and obtains a first vehicle posture of the vehicle in the parking scene map; and

[0098] The second positioning module 300 obtains second geographic location information of the vehicle according to the second marker, matches the second geographic location information with the parking scene map, and obtains a second vehicle posture of the vehicle in the parking scene map.

[0099] The map acquisition module 100 is triggered according to a preset trigger condition to obtain parking scene attribute information of a fixed parking scene, and based on the parking scene attribute information, obtains a parking scene map of the fixed parking scene from the cloud.

[0100] As a method of triggering the acquisition of the parking scene map from the cloud according to a preset trigger condition, it can be a trigger condition manually initiated by the driver, such as the driver issuing a request to download the parking scene map from the cloud, or it can be an automatically initiated trigger condition, for example, when the vehicle arrives at an area within a specified distance near a fixed parking scene, the vehicle automatically issues a request to download the parking scene map from the cloud.

[0101] As an embodiment, the first positioning module 100 is a planar positioning module for two-dimensional positioning, and the first marker is a planar marker in a fixed parking scene. The second positioning module 200 is a spatial positioning module for spatial positioning, and the second marker is a spatial marker in a fixed parking scene. Regarding the second positioning module 300, it implements spatial positioning. Specifically, it obtains the second geographic location information (spatial location information) of the vehicle based on the spatial marker, and converts the second geographic location information from spatial coordinates to planar coordinates through spatial mapping for matching with the parking scene map.

[0102] Regarding the setting positions of plane markers and space markers, plane markers include a combination of one or more of the following: positioning markers set on the ground side of a fixed parking scene; positioning markers set on the surrounding side of a fixed parking scene; and positioning markers set on the upper side of a fixed parking scene. On the other hand, space markers include a combination of one or more of the following: positioning markers set on the ground side of a fixed parking scene; positioning markers set on the surrounding side of a fixed parking scene; and positioning markers set on the upper side of a fixed parking scene. Regarding the shapes of plane markers and space markers, plane markers are a combination of one or more of the following: arrow-shaped markers; single right-angled markers; triangular markers; and polygonal markers. On the other hand, space markers are a combination of one or more of the following: QR code markers; arrow-shaped markers; single right-angled markers; triangular markers; polygonal markers; and objects that were originally set up in a fixed parking scene. The so-called "objects originally set up in the fixed parking scene" here refers to objects that are inherent in the fixed parking scene (such as battery swap stations) in addition to additional markings, such as front V-grooves, rear flat grooves, warning stickers to remind users, etc.

[0103] As another embodiment, the first positioning module 100 is an outdoor positioning module for outdoor positioning, and the first marker is an outdoor marker in a fixed parking scene. The second positioning module 200 is an indoor positioning module for indoor positioning, and the second marker is an indoor marker in a fixed parking scene.

[0104] As described above, the vehicle positioning method for a fixed parking scene and the vehicle positioning system for a fixed parking scene according to the present invention can not only provide positioning on a plane (on the ground), but also provide positioning in space. For fixed parking scenes containing different planes, they can flexibly position, thereby enabling more accurate parking navigation.

[0105] Furthermore, because the latest and most accurate parking scene maps can be obtained from the cloud in real time, high-precision map matching can be achieved, providing a more accurate parking path. Furthermore, the vehicle positioning method and system for a fixed parking scene of the present invention provide both two-dimensional positioning markers and spatial positioning markers to provide both two-dimensional and spatial positioning. The combination of these two methods can provide a flexible parking path.

[0106] The vehicle positioning method for fixed parking scenes and the vehicle positioning system for fixed parking scenes of the present invention can be applied to various scenarios that require a combination of plane positioning and spatial positioning, that is, scenarios that include slopes. The following scenarios can be listed as examples: electric vehicle battery swap station scenarios (usually battery swap stations are higher than the road surface, and the battery swap stations will exceed the road surface and a slope will appear), dock parking / boarding and disembarking scenarios (due to the high and low draft levels of ships, the dock is usually not flat with the shore and a slope will also appear), and certain multi-story parking garages (which may include flat surfaces and slopes).

[0107] Hereinafter, a scenario in which an electric vehicle enters a battery swap station is used as an embodiment to illustrate the vehicle positioning method for a fixed parking scenario and the vehicle positioning system for a fixed parking scenario of the present invention.

[0108] Figure 3 It is a flowchart showing a vehicle positioning method in a battery swap station scenario.

[0109] like Figure 3 As shown, the vehicle positioning method in the battery swap station scenario includes the following steps:

[0110] Initial triggering step S10: The user drives an electric vehicle to the vicinity of a battery swap station and, for example, places an order to start a battery swap service via a mobile phone, which triggers the following map acquisition step S20;

[0111] Map acquisition step S20: obtaining a map of a battery swap station from the cloud;

[0112] Off-station positioning step S30: obtaining the off-station geographical location information of the vehicle based on the off-station marker, matching the off-station geographical location information with the battery swap station map, and obtaining the off-station vehicle posture of the vehicle in the battery swap station map. For example, the off-station geographical location feature point represented by the off-station marker (i.e., it can represent the location of the vehicle) is compared with the geographical location feature point in the battery swap station map, thereby determining the off-station vehicle posture of the vehicle in the battery swap station map; and

[0113] In-station positioning step S40: Obtain the in-station geographic location information of the vehicle based on the in-station markers, match the in-station geographic location information with the battery swap station map, and obtain the in-station vehicle posture of the vehicle in the battery swap station map. For example, compare the in-station geographic location feature points represented by the in-station markers (that is, they can represent the location of the vehicle) with the geographic location feature points in the battery swap station map, thereby determining the in-station vehicle posture of the vehicle in the battery swap station map.

[0114] In the map acquisition step S20, upon triggering the start trigger step S10, attribute information of the battery swap station, such as the station ID, is acquired. Based on the station ID, a station map for the battery swap station is retrieved from the cloud. The purpose of setting up the map acquisition step S20 is to obtain the latest and most accurate parking scenario map of the battery swap station, so that the subsequent off-station positioning step S30 and on-station positioning step S40 can accurately locate the vehicle.

[0115] The off-station markers are used for off-station positioning, while the on-station markers are used for on-station positioning. Thus, in the off-station positioning step S30, the vehicle's off-station geographic location information is obtained based on the off-station markers. This off-station geographic location information is then matched with the battery swap station map to calculate the vehicle's off-station position. In the on-station positioning step S40, the vehicle's on-station geographic location information is obtained based on the on-station markers. This on-station geographic location information is then matched with the battery swap station map to calculate the vehicle's on-station position.

[0116] Here, regarding the location of the markers outside the station, as an example, it can include one or more of the following combinations: positioning markers set on the ground side of the battery swap station; positioning markers set around the battery swap station; and positioning markers set above the battery swap station. Regarding the location of the markers inside the station, as an example, it can include one or more of the following combinations: positioning markers set on the ground side of the battery swap station; positioning markers set around the battery swap station; and positioning markers set above the battery swap station.

[0117] Next, regarding the shape of external markers, one or more of the following may be used: arrow-shaped markers; single right-angled markers; triangular markers; and polygonal markers. Regarding the shape of internal markers, one or more of the following may be used: QR code markers; arrow-shaped markers; single right-angled markers; triangular markers; and polygonal markers.

[0118] Here, an example of an off-site marker and an on-site marker is given for explanation.

[0119] Figure 4 This is a diagram showing an example of off-site markers and on-site markers.

[0120] like Figure 4 As shown, the left figure is a schematic diagram of the markers set up outside the battery swap station, and the right figure is a schematic diagram of the markers set up inside the battery swap station.

[0121] Outside the battery swap station, as shown in the left figure, for plane positioning, three pairs of arrow-shaped right triangles are set on the ground. These three pairs of arrow-shaped right triangles provide positioning information and vehicle direction guidance for users. The parking space-shaped area composed of the remaining four right triangles provides positioning information and initial position guidance for users.

[0122] Secondly, regarding spatial positioning, how to Figure 4 As shown, a total of six QR code markers are set on the wall (two QR code markers are set outside the battery swap station and four QR code markers are set inside the battery swap station), providing spatial positioning of the vehicle throughout the entire process after driving onto the slope. In particular, it can achieve spatial positioning of the battery swap station. Through spatial mapping, the spatial coordinates can be converted into plane coordinates to realize subsequent vehicle posture calculation. In this way, the vehicle uses QR code markers for spatial positioning on the slope and in the battery swap station, and uses ground markers such as triangles for plane positioning on the plane, and can switch between plane positioning and spatial positioning (such as slope positioning). Figure 5 This is a schematic diagram showing the switching between plane positioning and slope positioning. Figure 5 As shown, if the vehicle is determined to be on the ground after going up a slope, it can switch to flat positioning. If it goes down a slope again and is determined to be on the slope, it can switch to slope positioning. Specifically, due to space constraints in a battery swap station, the vehicle may first go up a slope (switching from flat positioning to slope positioning), then go down the slope (switching from slope positioning to flat positioning), and then back up the slope to enter the station (switching from flat positioning to slope positioning).

[0123] While double arrows are used for plane positioning, a single right angle can also be used. Of course, the basic element of a double arrow is also a single right angle. Double arrows can indicate the correct vehicle heading and distinguish them from common road markings (large arrows, straight lines), preventing false positives during initial positioning. The preferred triangle shape is designed from an algorithmic perspective; other shapes, such as closed triangles, squares, and other regular shapes, can also be used.

[0124] In addition, the above content lists QR codes as spatial positioning, which can be replaced by other regular shapes, such as solid squares, equilateral triangles, etc. as other transformation forms.

[0125] Figure 6 It is a structural block diagram of the vehicle positioning system in the battery swap station scenario.

[0126] like Figure 6 As shown, the vehicle positioning system in the battery swap station scenario of this embodiment includes:

[0127] The map acquisition module 10 triggers the acquisition of the battery swap station map from the cloud according to the preset trigger conditions;

[0128] The off-station positioning module 20 obtains the off-station geographical location information of the vehicle based on the off-station markers, matches the off-station geographical location information with the parking scene map, and obtains the off-station vehicle posture of the vehicle in the battery swap station map; and

[0129] The in-station positioning module 30 obtains the in-station geographical location information of the vehicle based on the in-station markers, matches the in-station geographical location information with the parking scene map, and obtains the in-station vehicle posture of the vehicle in the battery swap station map.

[0130] The "outside the station" here refers to outside the battery swap station, and the "inside the station" here refers to inside the battery swap station.

[0131] Among them, the map acquisition module 10 is triggered according to a preset trigger condition to obtain the battery swap station ID of the battery swap station and obtain the battery swap station map of the battery swap station from the cloud based on the battery swap station ID.

[0132] Among them, as a method of triggering the acquisition of the battery swap station map from the cloud based on a preset trigger condition, it can be a trigger condition manually initiated by the driver, such as the driver issuing a request to download the battery swap station map from the cloud, for example, the driver places an order for "battery swap service" on the mobile phone.

[0133] The off-site positioning module 20 is a positioning module for off-site positioning, and the off-site markers are markers for off-site positioning (which may include planar positioning markers and / or spatial positioning markers). The on-site positioning module 30 is a positioning module for off-site positioning, and the on-site markers are markers for off-site positioning (which may include planar positioning markers and / or spatial positioning markers).

[0134] As described above, the vehicle positioning method and system for battery swap stations according to this embodiment can provide not only two-dimensional (ground) positioning but also spatial positioning, such as when a vehicle is moving up or down a slope. By providing both two-dimensional positioning markers and spatial positioning markers, both two-dimensional and spatial positioning are provided. The combination of these two methods can provide a flexible parking path.

[0135] Moreover, according to the vehicle positioning method and vehicle positioning system in the battery swap station scenario of this embodiment, since the latest and most accurate battery swap station map can be obtained from the cloud in real time, high-precision map matching can be achieved to perform more accurate vehicle positioning, thereby achieving more accurate parking navigation.

[0136] The present invention also provides a computer-readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-mentioned vehicle positioning method for a fixed parking scene.

[0137] The present invention also provides a computer device, comprising a storage module, a processor, and a computer program stored on the storage module and executable on the processor, wherein the processor implements the above-mentioned vehicle positioning method for a fixed parking scene when executing the computer program.

[0138] The above examples primarily illustrate the vehicle positioning method and vehicle positioning system for a fixed parking scenario of the present invention. Although only certain specific embodiments of the present invention have been described, those skilled in the art will appreciate that the present invention may be implemented in numerous other forms without departing from its spirit and scope. Therefore, the examples and embodiments presented are to be considered illustrative rather than restrictive, and the present invention may encompass various modifications and substitutions without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A vehicle positioning method for a fixed parking scenario, wherein the fixed parking scenario is a scenario combining plane positioning and space positioning, characterized in that: The method comprises: Map acquisition step: Based on preset trigger conditions, the vehicle obtains the parking scene map from the cloud; a first positioning step of acquiring first geographic location information of the vehicle based on a first marker in a fixed parking scene, matching the first geographic location information with the parking scene map, and obtaining a first vehicle posture of the vehicle in the parking scene map; and In a second positioning step, second geographic location information of the vehicle is obtained based on a second marker in the fixed parking scene, and the second geographic location information is matched with the parking scene map to obtain a second vehicle posture of the vehicle in the parking scene map, wherein the second geographic location information is spatial location information and the second vehicle posture is a spatial posture. The first marker is a plane marker in a fixed parking scene, and the second marker is a space marker in a fixed parking scene. The second markers include: positioning markers arranged around the fixed parking scene; and positioning markers arranged above the fixed parking scene. The second geographic location information is 6D posture information.

2. The vehicle positioning method for a fixed parking scene according to claim 1, characterized in that: The first marker is an outdoor marker in a fixed parking scene, and the second marker is an indoor marker in a fixed parking scene.

3. The vehicle positioning method for a fixed parking scene according to claim 1, characterized in that: In the map acquisition step, according to a preset trigger condition, the vehicle is triggered to obtain parking scene attribute information of a fixed parking scene, and based on the parking scene attribute information, the vehicle obtains a parking scene map of the fixed parking scene from the cloud.

4. The vehicle positioning method for a fixed parking scene according to claim 1, characterized in that: The first identifier includes one or more of the following: Positioning markers set on the ground side of fixed parking scenes; Positioning markers set around the fixed parking scene; and Positioning markers are set on the upper side of the fixed parking scene. The second identifier further comprises: A positioning marker set on the ground side of a fixed parking scene.

5. The vehicle positioning method for a fixed parking scene according to claim 1, characterized in that: In the second positioning step, the second geographic location information of the vehicle is obtained based on the spatial marker, and the second geographic location information is converted from spatial coordinates to plane coordinates through spatial mapping to match it with the parking scene map.

6. The vehicle positioning method for a fixed parking scene according to claim 1, characterized in that: The planar marker is one or more of the following: Arrow-shaped marker; Single right-angled shape marker; triangular marker; and Polygonal marker.

7. The vehicle positioning method for a fixed parking scene according to claim 1, characterized in that: The space marker is one or more of the following: QR code identifiers; Arrow-shaped marker; Single right-angled shape marker; triangular markers; polygonal markers; and Fixed objects that were already set up in the parking scene.

8. The vehicle positioning method for a fixed parking scene according to claim 1, characterized in that: The preset triggering conditions include: Active triggering conditions initiated by the user; and / or Passive trigger conditions triggered by vehicle behavior.

9. A vehicle positioning system for a fixed parking scenario, wherein the fixed parking scenario is a scenario combining plane positioning and space positioning, characterized in that: include: The map acquisition module triggers the vehicle to obtain the parking scene map from the cloud according to the preset trigger conditions; a first positioning module, which obtains first geographic location information of the vehicle based on a first marker in a fixed parking scene, matches the first geographic location information with the parking scene map, and obtains a first vehicle posture of the vehicle in the parking scene map; as well as A second positioning module obtains second geographic location information of the vehicle based on a second marker in the fixed parking scene, matches the second geographic location information with the parking scene map, and obtains a second vehicle posture of the vehicle in the parking scene map, wherein the second geographic location information is spatial location information and the second vehicle posture is a spatial posture. The first positioning module is a plane positioning module for realizing plane positioning, and the first marker is a plane marker in a fixed parking scene. The second positioning module is a space positioning module for realizing space positioning, and the second marker is a space marker in a fixed parking scene. The second markers include: positioning markers arranged around the fixed parking scene; and positioning markers arranged above the fixed parking scene. The second geographic location information is 6D posture information.

10. The vehicle positioning system for a fixed parking scene according to claim 9, characterized in that: The first positioning module is a positioning module for realizing outdoor positioning, and the first marker is an outdoor marker in a fixed parking scene. The second positioning module is a positioning module for realizing indoor positioning, and the second marker is an indoor marker in a fixed parking scene.

11. The vehicle positioning system for a fixed parking scene according to claim 9, characterized in that: The map acquisition module is triggered according to a preset trigger condition to obtain parking scene attribute information of a fixed parking scene, and based on the parking scene attribute information, obtains a parking scene map of the fixed parking scene from the cloud.

12. The vehicle positioning system for a fixed parking scene according to claim 9, characterized in that: The first identifier includes one or more of the following: Positioning markers set on the ground side of fixed parking scenes; Positioning markers set around the fixed parking scene; and Positioning markers are set on the upper side of the fixed parking scene. The second identifier further comprises: A positioning marker set on the ground side of a fixed parking scene.

13. The vehicle positioning system for a fixed parking scene according to claim 9, characterized in that: The second positioning module obtains the second geographic location information of the vehicle based on the spatial marker, and converts the second geographic location information from spatial coordinates to plane coordinates through spatial mapping to match it with the parking scene map.

14. The vehicle positioning system for a fixed parking scene according to claim 9, characterized in that: The planar marker is one or more of the following: Arrow-shaped marker; Single right-angled shape marker; triangular marker; and Polygonal marker.

15. The vehicle positioning system for a fixed parking scene according to claim 9, characterized in that: The space marker is one or more of the following: QR code identifiers; Arrow-shaped marker; Single right-angled shape marker; triangular marker; polygonal markers; as well as Fixed objects that were already set up in the parking scene.

16. A vehicle, characterized in that: A vehicle positioning system for fixing a parking scene comprising the vehicle positioning system according to any one of claims 9 to 15.

17. A computer-readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle positioning method for a fixed parking scene according to any one of claims 1 to 8 is implemented.

18. A computer device comprising a storage module, a processor, and a computer program stored in the storage module and executable on the processor, wherein: When the processor executes the computer program, the vehicle positioning method for a fixed parking scene according to any one of claims 1 to 8 is implemented.

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