Site information broadcasting method, server, vehicle, roadside device and system

Abstract

The application provides a site information broadcasting method, a server, a vehicle, a roadside device and a system. First, positioning parameters sent by a vehicle terminal and a front image captured by the vehicle terminal are acquired. Then, a current position of the vehicle is determined according to the positioning parameters, the front image and entry information of the vehicle to be close to a site, so that the corresponding site information can be broadcast to the vehicle terminal when the current position of the vehicle is within the range of the corresponding site entrance. The position of the vehicle is accurately positioned from three aspects, automatic broadcasting of site information is realized, long-distance positioning (such as satellite positioning) and short-distance information detection (front image and site information) are combined, so that the vehicle position can be determined without relying on short-distance wireless signal sensing, and the vehicle position can be determined without short-distance wireless signal sensing. Therefore, even if the vehicle has not arrived at the site, early prediction can still be performed to avoid overpassing or missing the site.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of computer application, and particularly relates to a site information broadcasting method, a server, a vehicle, a roadside device and a system. BACKGROUND

[0002] With the rapid development of intelligent traffic management technology and the popularity of expressways, more and more vehicles travel in the expressway environment. The Road Side Unit (RSU) and the On board Unit (OBU) in the intelligent traffic management system are widely popularized, realizing vehicle identity recognition, non-stop, card-free, electronic toll collection and establishing unattended vehicle passage function. In the single environment and fast passing scene, it is increasingly important to have and improve accurate prediction and broadcasting of sites to avoid vehicle passing or missing the station.

[0003] However, the current automatic site broadcasting is generally through simple short-distance signal sensing, which can only determine whether the vehicle enters the station, and cannot provide the function of prediction and broadcasting. Satellite positioning is greatly affected by environmental factors, resulting in low positioning accuracy and the same inability to realize the pre-broadcasting function, which has many shortcomings. SUMMARY

[0004] The embodiments of the present application provide a site information broadcasting method, a server, a vehicle, a roadside device and a system, which can solve the problem that the site information broadcasting in the prior art cannot realize pre-broadcasting due to the use of simple short-distance signal sensing, and the long-distance positioning sensing is inaccurate and cannot cope with pre-broadcasting.

[0005] In a first aspect, the embodiments of the present application provide a site information broadcasting method, comprising:

[0006] obtaining a positioning parameter sent by a vehicle terminal and a front image photographed by a vehicle terminal;

[0007] determining a current position of the vehicle according to the positioning parameter, the front image and entry and exit information of the vehicle to be close to a site;

[0008] broadcasting corresponding site information to the vehicle according to the current position of the vehicle.

[0009] In other embodiments of the present application, the determination of the current position of the vehicle according to the positioning parameter, the front image and the entry and exit information of the vehicle to be close to a site comprises:

[0010] determining a matching degree between the positioning parameter and estimated position information of the vehicle;

[0011] Determine the current position of the vehicle based on the matching degree, the positioning parameter, the front image, and access information of the vehicle to the station to be approached.

[0012] In other embodiments of the present application, the determination of the current position of the vehicle based on the matching degree, the positioning parameter, the front image, and access information of the vehicle to the station to be approached includes:

[0013] In combination with a plurality of set thresholds, the current position of the vehicle is determined based on the relationship between the matching degree and the plurality of set thresholds, in combination with the positioning parameter, the front image, and the access information of the vehicle to the station to be approached.

[0014] In other embodiments of the present application, the plurality of set thresholds include a first set threshold and a second set threshold from high to low, and the determination of the current position of the vehicle based on the relationship between the matching degree and the plurality of set thresholds, in combination with the positioning parameter, the front image, and the access information of the vehicle to the station to be approached includes:

[0015] If the matching degree is higher than the first set threshold, the current position of the vehicle is determined based on the positioning parameter;

[0016] If the matching degree is not higher than the first set threshold and is higher than the second set threshold, the current position of the vehicle is determined in combination with the positioning parameter, the front image, and the access information of the vehicle to the station to be approached.

[0017] In other embodiments of the present application, the plurality of set thresholds include a first set threshold, a third set threshold, and a second set threshold from high to low, and the determination of the current position of the vehicle based on the relationship between the matching degree and the plurality of set thresholds, in combination with the positioning parameter, the front image, and the access information of the vehicle to the station to be approached includes:

[0018] Generate a first position based on the positioning parameter and a preset first position association table;

[0019] Generate a second position based on the front image, the access information of the vehicle to the station to be approached, and a preset second position association table;

[0020] If the matching degree is not higher than the first set threshold and is higher than the third set threshold, the current position is determined based on the first position and the second position with the first position as a reference;

[0021] If the matching degree is not higher than the third set threshold and is higher than the second set threshold, the current position is determined based on the first position and the second position with the second position as a reference.

[0022] In other embodiments of the present application, the access information includes an image of the entrance marker, and the determining the current position of the vehicle according to the positioning parameter, the front image, and the access information of the site to be approached by the vehicle comprises:

[0023] searching for a site within a position setting range in the positioning parameter and an image of a corresponding entrance marker according to the positioning parameter;

[0024] comparing the front image with the image of the entrance marker to determine whether the entrance marker appears in the front image;

[0025] if the entrance marker appears, determining the distance and position of the current vehicle from the entrance marker by a depth-of-field algorithm;

[0026] combining the distance and position of the current vehicle from the entrance marker and the position of the entrance marker to determine the current position of the vehicle.

[0027] In other embodiments of the present application, the positioning parameter includes longitude and latitude, signal strength, number of received stars, and vehicle speed, and the determining the matching degree between the positioning parameter and the estimated position information of the vehicle comprises:

[0028] calculating the distance between the longitude and latitude of the estimated position information and the longitude and latitude in the positioning parameter;

[0029] calculating the sum of the products of each parameter and the corresponding preset weight according to the distance between the two longitudes and latitudes, the signal strength, the number of received stars, and the vehicle speed, to obtain the matching degree.

[0030] In other embodiments of the present application, the positioning parameter includes longitude and latitude, signal strength, number of received stars, and vehicle speed, and the determining the matching degree between the positioning parameter and the estimated position information of the vehicle comprises:

[0031] determining whether the longitude and latitude in the positioning parameter is within a setting range corresponding to the longitude and latitude of the estimated position information according to the distance between the longitude and latitude of the estimated position information and the longitude and latitude in the positioning parameter;

[0032] if the longitude and latitude is within the setting range, assigning a first setting weight to the weight corresponding to the longitude and latitude, and if the longitude and latitude is not within the setting range, assigning a second setting weight to the weight corresponding to the longitude and latitude;

[0033] calculating the sum of the products of each parameter and the corresponding preset weight according to the weight of the longitude and latitude, the signal strength, the number of received stars, and the vehicle speed, to obtain the matching degree.

[0034] In other embodiments of the present application, the positioning parameter is from a satellite positioning module configured on the vehicle, and the positioning parameter comprises a positioning state identifier. If the positioning state identifier corresponds to an unsuccessful positioning, the current position of the vehicle is determined according to the positioning parameter, the front image, and the access information of the station to be approached by the vehicle, comprising:

[0035] The current position of the vehicle is determined according to the front image and the access information of the station to be approached by the vehicle.

[0036] In other embodiments of the present application, the current position of the vehicle is determined according to the front image and the access information of the station to be approached by the vehicle, comprising:

[0037] The front image is compared with an image of an entrance marker of the station corresponding to the estimated position of the vehicle to determine whether the entrance marker appears in the front image;

[0038] If the entrance marker appears, the distance and position of the current vehicle from the entrance marker are determined by a depth-of-field algorithm;

[0039] The current position of the vehicle is determined in combination with the distance and position of the current vehicle from the entrance marker and the position of the entrance marker.

[0040] In other embodiments of the present application, the current position of the vehicle is determined according to the front image and the access information of the station to be approached by the vehicle, comprising:

[0041] The front image is compared with an image of an entrance marker of the station corresponding to the estimated position of the vehicle to determine whether the entrance marker appears in the front image;

[0042] If the entrance marker appears, the current position of the vehicle is determined according to the front image, the access information of the station to be approached by the vehicle, and a preset second position association table.

[0043] In other embodiments of the present application, the corresponding station information is broadcast to the vehicle according to the current position of the vehicle, comprising:

[0044] The time length for the vehicle to reach a preset inside corresponding to the station to be approached is determined according to the current position of the vehicle and the position of the station to be approached, in combination with the speed of the vehicle;

[0045] The broadcast time is determined according to the time length and the time length of the broadcast content of the station information;

[0046] The station information is broadcast after the broadcast time is reached.

[0047] In a second aspect, a server is provided in the specific embodiments of the present application, comprising:

[0048] an acquisition module, configured to acquire a positioning parameter sent by a vehicle terminal and a front image captured by the vehicle terminal;

[0049] a vehicle current position determination module, configured to determine a current position of the vehicle according to the positioning parameter, the front image and entry information of a station to be approached by the vehicle;

[0050] a broadcast module, configured to broadcast corresponding station information to the vehicle according to the current position of the vehicle.

[0051] In a third aspect, the embodiment of the present application provides a vehicle, comprising:

[0052] a positioning module, configured to acquire a current positioning parameter of the vehicle;

[0053] an entry information acquisition module, configured to acquire entry information of a station to be approached by the vehicle;

[0054] an image recording module, configured to capture an image of a front of the vehicle;

[0055] a processing module, configured to determine a current position of the vehicle according to the positioning parameter, the front image and the entry information of the station to be approached by the vehicle; or a sending module, configured to send the positioning parameter, the front image and the entry information of the station to be approached by the vehicle to a server, so that the server determines the current position of the vehicle according to the positioning parameter, the front image and the entry information of the station to be approached by the vehicle;

[0056] a station broadcast information receiving module, configured to receive station information broadcast by a station device if the current position of the vehicle is within a range of an entrance of a corresponding station.

[0057] In a fourth aspect, the embodiment of the present application provides a station information broadcast system, comprising a server, a station device and a vehicle;

[0058] the vehicle sends a current positioning parameter of the vehicle and an image of a front of the vehicle to the server, and the station device sends entry information of a station to be approached by the vehicle to the server;

[0059] the server determines a current position of the vehicle according to the positioning parameter, the front image and the entry information of the station to be approached by the vehicle;

[0060] if the current position of the vehicle is within a range of an entrance of a corresponding station, the server sends station information to be broadcast to the station device, so that the station device broadcasts corresponding station information to the vehicle terminal.

[0061] In a fifth aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the station information broadcasting method as described above when executing the computer program.

[0062] In a sixth aspect, an embodiment of the present application provides a computer readable storage medium, having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the station information broadcasting method as described above.

[0063] Compared with the prior art, the embodiment of the present application has the beneficial effects that: first, the positioning parameters sent by the vehicle terminal and the front image taken by the vehicle terminal are acquired, then the current position of the vehicle is determined according to the positioning parameters, the front image, and the access information of the vehicle to be close to the station, so that the corresponding station information can be broadcast to the vehicle terminal when the current position of the vehicle is within the range of the corresponding station entrance, the positioning parameters, the image, and the access information of the station are combined, so that the position of the vehicle is accurately positioned from three aspects, the accurate station broadcasting function is provided, the accuracy of station broadcasting is improved, the automatic broadcasting of station information is realized, and because the broadcasting accuracy is high, long-distance positioning (such as satellite positioning) and short-distance information detection (front image and station information) are combined, so that the vehicle position can be determined without relying on short-distance wireless signal sensing, and the vehicle position can be determined without short-distance wireless signal sensing, so that even if the vehicle has not arrived at the station, the station can still be predicted in advance to avoid over-station or mis-station. BRIEF DESCRIPTION OF DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0065] Figure 1 is a flowchart of a station information broadcasting method provided by an embodiment of the present application;

[0066] Figure 2 is one of the specific flowcharts of the sub-steps of the station information broadcasting method provided by an embodiment of the present application;

[0067] Figure 3 is another specific flowchart of the sub-steps of the station information broadcasting method provided by an embodiment of the present application;

[0068] Figure 4 is a data transmission schematic diagram of an interaction system in a road scene in an embodiment of the present application;

[0069] Figure 5 is a flowchart of one specific scenario in the embodiments of the present application;

[0070] Figure 6 is a structural diagram of a server provided by the embodiments of the present application;

[0071] Figure 7 is a structural diagram of a terminal device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0072] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0073] It should be understood that the term "comprises" as used in the specification and the appended claims indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0074] It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items, and that the term "at least one of' denotes one, or a plurality of, or any combination of the listed items.

[0075] As used in the description of the application and the appended claims, the term "if' can be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be interpreted to mean "upon determining" or "in response to determining" or "upon [the described condition or event] being detected" or "in response to [the described condition or event] being detected," depending on the context.

[0076] In addition, in the description of the application and the appended claims, the terms "first," "second," "third," etc. are used merely as labels for convenience, and are not intended to imply or suggest relative importance to one another.

[0077] Reference within the specification of this application to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" or "in some embodiments" in various places within specified descriptions in this specification are not necessarily all referring to the same embodiment, however, but can refer to one or more but not all embodiments. The terms "including," "comprising," "featuring," and variations thereof are meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Although the terms "comprise," "comprising," "featuring," "have," "having," "include," "including," and "contain," "containing" or variants thereof are used herein, such terms are understood to be open-ended, allowing for the inclusion of not only the recited elements but also other elements without

[0078] The site information broadcasting method, device, terminal equipment, storage medium and computer program provided by the application are described in detail below with reference to the accompanying drawings.

[0079] Figure 1 A flowchart of a site information broadcasting method provided by an embodiment of the application is shown, which comprises:

[0080] S1: acquiring positioning parameters sent by a vehicle terminal and a front image captured by the vehicle terminal;

[0081] S2: determining a current position of the vehicle according to the positioning parameters, the front image and entry and exit information of the vehicle to be close to a site;

[0082] S3: broadcasting corresponding site information to the vehicle according to the current position of the vehicle.

[0083] The beneficial effects of the embodiments of the application compared with the prior art are as follows: first, by acquiring positioning parameters sent by a vehicle terminal and a front image captured by the vehicle terminal, then determining a current position of the vehicle according to the positioning parameters, the front image and entry and exit information of the vehicle to be close to a site, the corresponding site information can be broadcasted to the vehicle terminal when the current position of the vehicle is within the range of the entrance of the corresponding site, the application combines positioning parameters, images and entry and exit site information, thereby accurately positioning the position of the vehicle from three aspects, providing accurate site broadcasting function, improving the accuracy of site broadcasting, realizing automatic broadcasting of site information, and because of the high accuracy of broadcasting, combining long-distance positioning (such as satellite positioning) and short-distance information detection (front image and site information), the vehicle position can be determined without relying on short-distance wireless signal sensing, so even if the vehicle has not arrived at the site, it can still be predicted in advance, avoiding overpassing or missing the station.

[0084] It should be noted that the site information broadcasting method of the embodiments of the present application can be executed by the server of the embodiments of the present application. The server of the embodiments of the present application can be configured in any terminal device to execute the site information broadcasting method of the embodiments of the present application. For example, the device of the embodiments of the present application can be configured in a monitoring terminal of a site information broadcasting system, and the embodiments of the present application do not limit this.

[0085] The vehicle terminal can be a terminal device fixedly installed on a vehicle, such as a master control machine of a vehicle or a driving recorder arranged on a vehicle. In some embodiments, the vehicle terminal can also be a mobile terminal separated from the vehicle, such as a mobile phone terminal of a user or a portable mobile computer.

[0086] The site can be a site arranged in a road service area, a site where a road side device is located, or a road public facility. It should be understood that the site of the present application is arranged with a road side device (RSU).

[0087] In the embodiments of the present application, the site information can include service information in the site, arrival site prompt information and departure site information, or news broadcasting information, road condition broadcasting information, etc. The present application does not limit this.

[0088] For example, the site information can be an introduction of a restaurant in the site, such as xxx is the most famous dessert restaurant in the site, etc. The introduction content of the restaurant and the dish recommendation are attached, or the site can broadcast: 500 meters ahead is the entrance of the site, there are xxx, xxx and xxx in the site, welcome to enjoy. Of course, the site can also broadcast: welcome, 200 meters ahead is the entrance of the site, there is congestion 1000 meters ahead, and the congestion will be relieved in 10 minutes, it is suggested to drive after 10 minutes. Of course, the above service content can be selected or customized by each user according to the actual needs, and the present application does not repeat the description.

[0089] It should be noted that the above examples are only exemplary and cannot be regarded as a limitation of the present application. In actual use, different site information can be configured to be broadcast according to actual needs and specific application scenarios, and the embodiments of the present application do not limit this.

[0090] As a possible implementation, the front image captured by the vehicle terminal can be attached with a time stamp. For example, the vehicle terminal is a driving recorder, the master unit in the driving recorder contains a global navigation satellite system (GNSS) module, which can obtain positioning parameters such as latitude, longitude, signal strength, number of satellites, and speed in real time. The driving recorder can further start a picture capturing function, capture an image of the front of the vehicle, and attach a time stamp to the image. For example, a front vehicle image is captured, and the time stamp is embedded in the image, displayed at a specific position at the lower left or right corner of the image. The present application does not limit this.

[0091] In some possible embodiments, the vehicle of the present application has an estimated position in the server background. The estimated position is not based on GNSS module positioning, but is based on the driving section, driving speed, and passed station before the current time of the vehicle. For example, after vehicle A passes through station M, according to the speed of A being 80 km / h, it can be judged that A is outside 80 km after station M after 1 hour. Of course, a station device is generally set every small section of road, for example, 2 km, so the estimated position can control the accuracy within 2 km.

[0092] In other possible embodiments, the above-mentioned estimated position of the present application can also be obtained based on other ways, such as the coverage range of the roadside device, the navigation plan of the vehicle, etc. Taking the coverage range of the roadside device as an example, when the roadside device detects a nearby vehicle, it will obtain the identification code of the vehicle, so that the identification code can be transmitted to the server, and the server determines that the vehicle is in the road section corresponding to the roadside device, so that the position of the vehicle can be roughly estimated.

[0093] In some possible embodiments, the present application can use the above-mentioned estimated position to assist in determining the current position of the vehicle, so as to exclude the error when the positioning parameter and the estimated position are greatly different, and avoid the GNSS positioning error in the case of weak signal. For example, the estimated position is in the range of station A, but the GNSS positioning error occurs due to weak signal, and the positioning position is 20 km away from station A. At this time, the specific scheme of positioning can be determined through the matching relationship between the two positions. The step S2 of the present application specifically comprises:

[0094] S21: determining the matching degree between the positioning parameter and the estimated position information of the vehicle;

[0095] S22: determining the current position of the vehicle based on the matching degree, the positioning parameter, the front image, and the entry and exit information of the vehicle to be close to the station.

[0096] In this embodiment, the matching degree can be the position similarity, or the distance between positions, and the application does not limit this.

[0097] For example, the matching degree can be the distance between two positions, and the closer the distance, the higher the matching degree. In this case, the distance data can be processed, for example, K / distance=similarity, where K is an empirical coefficient that can be set according to experience. Therefore, the greater the distance, the lower the matching degree, and the smaller the distance, the higher the matching degree.

[0098] According to the matching degree of the two positions, different positioning methods can be selected. In some possible embodiments, different matching degree intervals can be set, so that positions in different matching degree intervals can use different positioning methods. In this case, multiple setting thresholds can be used to anchor different matching degree intervals. In this embodiment, the current position of the vehicle is determined based on the matching degree, the positioning parameter, the front image, and the access information of the station to be approached by the vehicle, and includes: in combination with the multiple setting thresholds, the relationship between the matching degree and the multiple setting thresholds, the positioning parameter, the front image, and the access information of the station to be approached by the vehicle, to determine the current position of the vehicle.

[0099] In some possible embodiments, the multiple setting thresholds can be two, specifically, the multiple setting thresholds include a first setting threshold and a second setting threshold from high to low. In this embodiment, information in the positioning parameter can be used for positioning in the case of high matching degree, and a hybrid long-short-distance multi-method positioning can be used in the case of low matching degree. Specifically, in this embodiment, the current position of the vehicle is determined based on the matching degree, the positioning parameter, the front image, and the access information of the station to be approached by the vehicle in combination with the multiple setting thresholds and the relationship between the matching degree and the multiple setting thresholds, and includes:

[0100] If the matching degree is higher than the first setting threshold, the current position of the vehicle is determined based on the positioning parameter;

[0101] If the matching degree is not higher than the first setting threshold and is higher than the second setting threshold, the current position of the vehicle is determined in combination with the positioning parameter, the front image, and the access information of the station to be approached by the vehicle.

[0102] In addition, in other embodiments of the application, more detailed matching degree intervals can be further divided, so as to give more complex and flexible positioning methods. In this embodiment, the multiple setting thresholds include a first setting threshold, a third setting threshold, and a second setting threshold from high to low, and the current position of the vehicle is determined in combination with the positioning parameter, the front image, and the access information of the station to be approached by the vehicle if the matching degree is not higher than the first setting threshold and is higher than the second setting threshold, as follows:Figure 2 shown, comprising:

[0103] S211: generating a first position according to the positioning parameter and a preset first position association table;

[0104] S212: generating a second position according to the front image, the access information of the vehicle to be close to the site and a preset second position association table;

[0105] S213: if the matching degree is not higher than the first set threshold and is higher than the third set threshold, determining the current position according to the first position and the second position based on the first position as a reference;

[0106] S214: if the matching degree is not higher than the third set threshold and is higher than the second set threshold, determining the current position according to the first position and the second position based on the second position as a reference.

[0107] In some embodiments, the first position is generated according to the positioning parameter and a preset first position association table. According to the above embodiments, the positioning parameter can include longitude and latitude, signal strength, number of stars received and speed, etc. In this embodiment, the first position can be determined according to the GNSS information and the position relationship table, which is a corresponding table of longitude and latitude, signal strength, number of stars received and speed and position information.

[0108] Table 1

[0109]

[0110] For example, Table 1 shows that the above-mentioned GNSS information and position relationship table is a corresponding table of longitude and latitude, signal strength, number of stars received and speed and position information. By embedding the table structure data, the first position can be obtained by querying the table structure, which is not described in detail herein.

[0111] Of course, the first position can also be generated by other means, for example, by comparing a single longitude and latitude in the positioning parameter with a first position association table (longitude and latitude comparison table) to obtain the first position, which is not limited in the present application.

[0112] In some possible implementation manners, the second position is generated according to the front image, access information of the vehicle to be close to the site, and a preset second position association table. The access information of the vehicle to be close to the site can include DSRC information (that is, RSU station code, gantry and access station identification, and vehicle information, etc.), and specifically, the access information of the vehicle to be close to the site can be sent by a roadside device. For example, in use, the DSRC information includes RSU station code, gantry and access station identification, vehicle information, time information, etc. The driving record information can include image information of a camera photo, etc. The DSRC information and the driving record information are associated with the position association table, and the position association table is a table corresponding to RSU station code, gantry and access station identification, camera photo, etc. and position information. Specifically, in implementation, image feature information and DSRC feature information are acquired, and are returned to a server. The server has a pre-stored image feature information and position information association table and a DSRC feature information and position information association table. Because RSU installation position, gantry position or access / inlet position information is known information (known quantity in implementation installation), the position can be judged by acquiring the DSRC information. Meanwhile, the position is further demonstrated by the image feature information. In addition, the position is further verified by similar vehicle type comparison through big data by the vehicle information.

[0113] Table 2

[0114]

[0115] Table 3

[0116]

[0117] In some embodiments, if the matching degree is not higher than the first set threshold and higher than the third set threshold, the current position is determined according to the first position and the second position based on the first position. In this embodiment, the first position is the reference and the second position is the auxiliary. At this time, the second position is only used to calibrate the first position and is not used for direct positioning. Specifically, in the scheme in which the first position is the reference and the second position is the auxiliary, for example, GNSS information (GNSS information valid flag, longitude and latitude, signal strength, number of satellites, speed and time), the priority from high to low is (GNSS information valid flag, number of satellites, signal strength, speed and time, longitude and latitude). The first position is the main basis: GNSS information valid flag is set, the number of satellites is greater than or equal to 4, the speed and time information in the period need to meet the actual driving logic, and the signal strength level is used as an auxiliary judgment (mainly considering that the vehicle is driving on a stacked road section, and the signal strength is uncertain). According to the position information and the GNSS association table, the position information is determined. Because the DSRC, the entrance or the gantry information can be used to predict the driving track, in the process of executing the position information and the GNSS association table query, the track correction and the auxiliary positioning are achieved. When the second position is the auxiliary, the contradiction between the GNSS information (for example: GNSS information valid flag is set, the number of satellites is greater than or equal to 4, the speed is too slow, the signal strength is weak, and the number of satellites is small) is mainly considered.

[0118] In some embodiments, if the matching degree is not higher than the third set threshold and higher than the second set threshold, the current position is determined according to the first position and the second position based on the second position. In this embodiment, the second position is the reference and the first position is the auxiliary. At this time, the first position is only used to calibrate the second position and is not used for direct positioning. Specifically, in the scheme in which the second position is the reference and the first position is the auxiliary, for example, for GNSS information (GNSS information valid flag, longitude and latitude, signal strength, number of satellites, speed and time), if the GNSS information valid flag is invalid or the number of satellites is less than 4, the second position is the reference.

[0119] Taking the GNSS in the above embodiments as an example, for example, Figure 4As shown, the server can directly transmit signals with the vehicle event data recorder, the vehicle event data recorder sends the positioning parameters and images to the on-board terminal (OBU), or directly to the roadside device RSU, the roadside device and the on-board terminal can interact bidirectionally, in specific use, the GNSS and position relationship table is queried to obtain the position information, at the same time, the DSRC (Dedicated Short Range Communication) and picture grabbing functions are started to obtain the DSRC information (RSU station code, gantry and station identification, vehicle information) and the vehicle event data information (camera photo, current time), if the DSRC information and the vehicle event data information are successfully obtained, the DSRC information and the vehicle event data information and the position association table are queried to obtain the position information, the position information is used as auxiliary information, finally, the position information obtained by querying the GNSS and the position relationship table is used as main information, the position information is returned to the vehicle event data recorder to realize site reporting.

[0120] In some other embodiments, according to the positioning parameters, the front image and the entry and exit information of the vehicle to be close to the site, the current position of the vehicle can also be determined by image recognition, specifically, most of the sites can be excluded according to the positioning parameters to narrow the range of the sites, then the image is analyzed by using the graphic features of every site, and the distance between the vehicle and the site marker is determined by using the depth of field in the image to complete the accurate positioning of the vehicle, in the embodiment, the entry and exit information includes the image of the entry marker, and the current position of the vehicle is determined according to the positioning parameters, the front image and the entry and exit information of the vehicle to be close to the site, as shown in Figure 3 As shown, comprising:

[0121] S221: according to the positioning parameters, the site and the corresponding image of the entry marker within the position setting range in the positioning parameters are found;

[0122] S222: the front image is compared with the image of the entry marker to determine whether the entry marker appears in the front image;

[0123] S223: if it appears, the distance and the position of the current vehicle from the entry marker are determined by a depth of field algorithm;

[0124] S224: the current position of the vehicle is determined in combination with the distance and the position of the current vehicle from the entry marker and the position of the entry marker.

[0125] In the specific embodiment, in step S221, first, the positioning parameters are used to find the station within the range, and the image of the corresponding station entrance marker is called, such as the entrance identification and gantry identification, which can be determined by comparison whether there is the same target body. In the embodiment, first, the features of the identification and entity appearing in the front image of the vehicle are compared, and if the pre-stored data in the database is consistent, it is determined that the two are the same, so that the specific station position can be determined according to the front image of the vehicle.

[0126] In addition, further combined with the depth of field algorithm, the distance between the current vehicle and the above marker (gantry, etc.) can be calculated, so that according to the above position and distance, and the position of the entrance marker, the current position of the vehicle can be determined.

[0127] In some other embodiments, the depth of field algorithm can combine the height of the marker image to calculate the depth of field, for example, the initial height of the gantry is 2 meters, the height of the gantry in the image captured by the vehicle data recorder is 7 centimeters, and the entire image size is 20 centimeters x 20 centimeters, corresponding to a 4-meter height x 4-meter width incident field of view. After calibration, the marker height is 1 meter, the distance is 2 meters, and the corresponding image height is 10 centimeters. Therefore, it can be simply calculated that if the gantry is 2 meters away from the vehicle, it should be 20 centimeters, but at this time only 7 centimeters, according to the proportional calculation of the triangle, the distance between the gantry and the vehicle is: 2x20 / 7=5.71 meters. Thus, a simple depth of field algorithm can be used to calculate the specific distance, and the advantage of the simple depth of field algorithm is that it can be calculated on the vehicle terminal without the need to execute through the cloud, so that the calculation result can be directly sent to the cloud or the roadside equipment when the current network state is not good.

[0128] In some other embodiments, the depth of field algorithm can use a more accurate algorithm step, such as cross comparison by comparing multiple markers with each other to increase the calculation accuracy. For example, multiple markers of different heights can be set based on the entity arrangement of the station, and the image height of each marker is known. Then, the image height of the markers in the image is compared two by two, and the most appropriate distance data is constantly deduced. In the specific embodiment, it is assumed that four markers a, b, c, and d are set at the station, and the heights and distances of a, b, c, and d are all different. a is defined as 2 meters, 1 meter away from the station entrance; b is 1 meter, 0.5 meters away from the station; c is 1.3 meters, 0.7 meters away from the station; and d is 2.5 meters, 0.3 meters away from the station.

[0129] In the specific embodiment, if the image heights of a to d are 20 cm, 13 cm, 15 cm and 33 cm respectively (the heights are not exactly proportional because the vehicle may not be directly opposite the station), the actual vehicle position can be found according to the pre-set position image comparison table or calculated by using the spatial geometric relationship, and the present application will not be described here.

[0130] In some possible implementation embodiments of the present application, in order to calculate the matching degree of the satellite positioning and the estimated position, the positioning parameters are comprehensively considered, so that the position is more accurate and the position error caused by signal problems can be avoided. According to the satellite parameters such as signal strength, the positioning position can be obtained, and the accuracy of the positioning position can also be obtained according to the satellite parameters. In the embodiment, the positioning parameters include longitude and latitude, signal strength, number of received stars and vehicle speed. The matching degree between the positioning parameters and the estimated position information of the vehicle is determined, including:

[0131] The distance between the longitude and latitude of the estimated position information and the longitude and latitude in the positioning parameters is calculated.

[0132] According to the distance between the two longitudes and latitudes, the signal strength, the number of received stars and the preset weight corresponding to the vehicle speed, the sum of the products of each parameter and the corresponding weight is calculated to obtain the matching degree.

[0133] In the embodiment, the weight can be defined according to the influence degree of each type of positioning parameter, and the weight can be dynamically set according to the influence degree relationship of the positioning parameter in each scene. For example, in the elevated ring-around scene, the position relationship is affected by the upper and lower elevated roads, and the specific road section cannot be identified. At this time, the weight of the longitude and latitude can be set to the lowest, and the weight of the signal strength can be set to the highest according to the strong correlation between the signal strength and the number of received stars (in the elevated road, the signal is shielded by the steel in the road, so the signal is weaker in the inner elevated road, and the signal is strongest in the outermost elevated road). Of course, in other scenes, such as straight lanes, the weight of the longitude and latitude can be set to the highest. The present application can be set according to the situation, and the corresponding comparison relationship table can be obtained according to experience and calculation, so that the sum of the products of each parameter and the corresponding weight is calculated according to the distance between the two longitudes and latitudes, the signal strength, the number of received stars and the preset weight corresponding to the vehicle speed, to obtain the matching degree.

[0134] In other implementable embodiments, the latitude and longitude can be defined first, and different weights under different distance differences can be confirmed, so that when the distance from the estimated position is far apart, other positioning parameters can be used as evidence, that is, if the position of the GNSS positioning is far apart from the estimated position, it is confirmed whether the GNSS positioning is wrong, and other positioning parameters need to be given greater weight to form the matching degree. When the distance from the estimated position is not far apart, the possibility of positioning error is low, and other positioning parameters such as signal strength and low star number can be given weight to form the matching degree.

[0135] In some implementable embodiments of the present application, it can be understood from the above embodiments that the positioning module can be GNSS, that is, the positioning parameters come from the satellite positioning module configured on the vehicle, and the positioning parameters include a positioning state identifier. If the positioning success identifier corresponds to unsuccessful positioning, the current position of the vehicle is determined according to the positioning parameters, the front image, and the access information of the vehicle to be close to the station, which includes determining the current position of the vehicle according to the front image and the access information of the vehicle to be close to the station.

[0136] Specifically, according to the front image and the access information of the vehicle to be close to the station, the current position of the vehicle can be determined by using the image recognition method in the above embodiments, or by using the position correlation table method.

[0137] In a specific embodiment, this embodiment can first find the station within the range by using the positioning parameters, and retrieve the image of the corresponding station entrance marker, such as the entrance identifier and gantry identifier, which can be determined by comparison whether there is the same target body. In this embodiment, the features of the identifiers and entities appearing in the front image of the vehicle are first compared, and if they are consistent with the pre-stored data in the database, it is determined that they are the same, so that the specific station position can be determined according to the front image of the vehicle.

[0138] In addition, further combined with the depth of field algorithm, the distance between the current vehicle and the above marker (gantry, etc.) can be calculated, so that according to the above position and distance, and the position of the entrance marker, the current position of the vehicle can be determined.

[0139] In some other embodiments, the depth of field algorithm can combine the height of the marker image to calculate the depth of field, for example, the initial height of the gantry is 2 meters, the height of the gantry in the image taken by the dashcam is 7 centimeters, the entire image size is 20 centimeters x 20 centimeters, corresponding to an incident field of view of 4 meters high x 4 meters wide, after calibration, the marker height is 1 meter, the distance is 2 meters, the corresponding image height is 10 centimeters, then it can be simply calculated that if the gantry is 2 meters away from the vehicle, it should be 20 centimeters, but at this time only 7 centimeters, according to the proportional calculation of the triangle, the distance between the gantry and the vehicle is: 2x20 / 7=5.71 meters. Thus, a specific distance calculation can be achieved using a relatively simple depth of field algorithm. The advantage of the simple depth of field algorithm is that it can be calculated on the vehicle terminal without the need to execute through the cloud, so that the calculation result can be directly sent to the cloud or the roadside device even if the current network state is not good.

[0140] In some other embodiments, the depth of field algorithm can use more accurate algorithm steps, for example, by comparing multiple markers with each other to increase the calculation accuracy. For example, multiple markers of different heights can be set based on the physical arrangement of the site, and the height of each marker is known. Then, the image heights of the markers in the image are compared with each other, and the most appropriate distance data is deduced. In a specific embodiment, it is assumed that four markers a, b, c, and d are set at the site, and their heights and distances are all different. a is defined as 2 meters, 1 meter away from the entrance of the site; b is 1 meter, 0.5 meters away from the site; c is 1.3 meters, 0.7 meters away from the site; and d is 2.5 meters, 0.3 meters away from the site.

[0141] In this specific embodiment, if the image heights of a to d are 20 centimeters, 13 centimeters, 15 centimeters, and 33 centimeters respectively (since the vehicle may not be directly opposite the site, the height is not completely proportional), the specific vehicle position can be found according to the pre-set position image table, or the actual vehicle position can be calculated by online calculation using spatial geometric relationships. This application does not repeat here.

[0142] For the embodiment that is not successfully positioned, the position association table can also be used. In this embodiment, the current position of the vehicle is determined according to the front image and the entry and exit information of the vehicle to be close to the site, comprising:

[0143] The front image is compared with the image of the entrance marker of the site corresponding to the estimated position of the vehicle to determine whether the entrance marker appears in the front image;

[0144] If present, the current position of the vehicle is determined according to the front image, the access information of the vehicle to the site to be approached, and a preset second position association table.

[0145] That is, the second position can be generated according to the front image, the access information of the vehicle to the site to be approached, and a preset second position association table. The access information of the vehicle to the site to be approached can include DSRC information (i.e., RSU station code, gantry and access station identification, and vehicle information, etc.), and specifically, the access information of the vehicle to the site to be approached can be sent by a roadside device. In use, taking a driving recorder as an example, the DSRC information includes RSU station code, gantry and access station identification, and vehicle information; the driving record information includes a camera photo and a current time; and the DSRC information and the driving record information are associated with a position association table, which is a table corresponding RSU station code, gantry and access station identification, camera photo to position information. Further, the application can adopt a forecasting or arrival triggering broadcasting mode. For the implementation of the forecasting mode, the forecasting time can be determined first, and after the time is reached, broadcasting is performed. Since the application adopts a combination of multiple positioning methods, the image, the positioning parameter, and the site access information are combined for positioning, so that accurate positioning can be achieved, and the information forecasting function can be realized. In the implementation of the application, according to the current position of the vehicle, the corresponding site information is broadcast to the vehicle, including:

[0146] According to the current position of the vehicle and the position of the site to be approached, in combination with the speed of the vehicle, the time length for the vehicle to reach the preset inside corresponding to the site to be approached is determined.

[0147] And according to the time length, in combination with the time length of the broadcast content of the site information, the broadcast time is determined.

[0148] After the broadcast time is reached, the site information is broadcast.

[0149] The application will be described in detail below in combination with specific scenarios.

[0150] As shown in Figure 5 The application provides a site self-broadcasting method, which includes:

[0151] Step 1: The GNSS module in the driving recorder acquires position information (latitude and longitude, signal strength, number of stars received, and speed, etc.) in real time.

[0152] Step 2, the main control unit in the car DVR judges whether GNSS information is acquired through the GNSS module data acquisition flag, if the flag is "1", the GNSS information is acquired successfully, otherwise, the GNSS information acquisition fails, if the GNSS information acquisition fails, according to rule D, the GNSS information is not acquired, then the DSRC and picture grabbing functions are started, the DSRC information and the car record information and location association form are queried, the location information is acquired, the location information is returned to the car DVR, and the site report is realized.

[0153] Step 3, if the GNSS information is acquired successfully, the information return server is returned, at the same time, it is judged which rule the GNSS information meets.

[0154] Step 4, if rule A is met, the GNSS and location relationship form is queried, the location information is acquired, at the same time, the location information is returned to the car DVR, and the site report is realized.

[0155] Step 5, if rule B is met, the GNSS and location relationship form is queried, the location information is acquired, at the same time, the DSRC and picture grabbing functions are started, the DSRC information (RSU station code, gantry and station identification, vehicle information) and the car record information (camera photo, current time) are acquired, if the DSRC information and the car record information are acquired successfully, the DSRC information and the car record information and location association form are queried, the location information is acquired, the location information is used as auxiliary information, finally, the GNSS and location relationship form is queried to acquire the location information as main information, the location information is returned to the car DVR, and the site report is realized. If the DSRC information and the car record information acquisition fails, finally, the GNSS and location relationship form is queried to acquire the location information as main information, the location information is returned to the car DVR, and the site report is realized.

[0156] Step 6, if rule C is met, the DSRC and picture grabbing functions are started, the DSRC information (RSU station code, gantry and station identification, vehicle information) and the car record information (camera photo, current time) are acquired, if the DSRC information and the car record information are acquired successfully, the DSRC information and the car record information and location association form are queried, the location information is acquired, the location information is used as main information, the location information is returned to the car DVR, and the site report is realized. If the DSRC information and the car record information acquisition fails, the real-time GNSS information acquisition is re-executed.

[0157] The GNSS information includes longitude and latitude, signal strength, number of received stars greater than 4 and speed; the GNSS information and position relationship table is a correspondence table of longitude and latitude, signal strength, number of received stars and speed and position information; the DSRC information includes RSU station code, gantry and entrance and exit station identification, vehicle information; the driving record information includes a camera photo and current time; the DSRC information and driving record information and position association table is a correspondence table of RSU station code, gantry and entrance and exit station identification, camera photo and position information; the GNSS information verification rules are divided into three levels, rule A is the highest matching degree of GNSS information and position information, rule B is the second highest matching degree of GNSS information and position information, rule C is the lowest matching degree of GNSS information and position information (untrusted), and rule D is that GNSS information is not acquired, then the DSRC and picture grabbing functions are started, the DSRC information and driving record information and position association table are queried, and the position information is acquired.

[0158] It can be seen that the application first acquires the positioning parameters sent by the vehicle terminal and the front image photographed by the vehicle terminal, and then determines the current position of the vehicle according to the positioning parameters, the front image and the entrance and exit information of the station to be approached by the vehicle, so that the corresponding station information can be broadcast to the vehicle terminal when the current position of the vehicle is within the range of the entrance of the corresponding station. The application combines the positioning parameters, the image and the entrance and exit station information, so as to accurately position the position of the vehicle from three aspects, provide accurate station broadcasting function, improve the accuracy of station broadcasting, realize automatic broadcasting of station information, and because the broadcasting accuracy is high, long-distance positioning (such as satellite positioning) and short-distance information detection (front image and station information) are combined, so that the vehicle position can be determined without relying on short-distance wireless signal sensing, and the vehicle position can be determined without short-distance wireless signal sensing. Therefore, even if the vehicle has not arrived at the station, the station can still be predicted in advance to avoid overpassing or missing the station.

[0159] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the application.

[0160] Corresponding to the station information broadcasting method described in the above embodiment, Figure 6 The structure block diagram of the server provided by the embodiment of the application is shown, and only the parts related to the embodiment of the application are shown for the convenience of description.

[0161] Referring to Figure 6 The server 10 includes:

[0162] The acquisition module 11 acquires the positioning parameters sent by the vehicle terminal and the front image photographed by the vehicle terminal;

[0163] The vehicle current position determining module 12 determines the current position of the vehicle according to the positioning parameter, the front image and the access information of the station to be approached by the vehicle;

[0164] The broadcasting module 13 broadcasts the corresponding station information to the vehicle according to the current position of the vehicle.

[0165] It should be noted that the information interaction, execution process and the like between the above modules are based on the same concept as the method embodiments of the present application, and the specific functions and the technical effects brought by the same can be referred to the method embodiments part, which will not be repeated here.

[0166] Corresponding to the station information broadcasting scenario described in the above embodiments, Figure 6 The structural block diagram of the vehicle provided by the embodiments of the present application is shown, and only the parts related to the embodiments of the present application are shown for ease of illustration.

[0167] Referring to Figure 6 The vehicle 50 comprises:

[0168] The positioning module is configured to acquire the current positioning parameter of the vehicle;

[0169] The access information acquisition module is configured to acquire the access information of the station to be approached by the vehicle;

[0170] The image recording module is configured to capture the image of the front of the vehicle;

[0171] The processing module is configured to determine the current position of the vehicle according to the positioning parameter, the front image and the access information of the station to be approached by the vehicle; or the sending module is configured to send the positioning parameter, the front image and the access information of the station to be approached by the vehicle to the server, so that the server determines the current position of the vehicle according to the positioning parameter, the front image and the access information of the station to be approached by the vehicle;

[0172] The station broadcasting information receiving module is configured to receive the station information broadcasted by the station device if the current position of the vehicle is within the range of the entrance of the corresponding station.

[0173] In the present embodiment, the vehicle can process the above positioning parameter, front image and station access information by itself, or can send part of the above information to the server, and the server processes after collecting all the information, and the present application is not limited thereto.

[0174] Further, the present embodiment also provides a station information broadcasting system, and the effect thereof corresponds to the above station broadcasting method, and thus will not be repeated, and the station information broadcasting system comprises a server, a station device and a vehicle.

[0175] The vehicle sends a current positioning parameter of the vehicle and an image in front of the vehicle to the server, and the site device sends access information of the vehicle to be close to the site to the server;

[0176] The server determines a current position of the vehicle according to the positioning parameter, the image in front of the vehicle and the access information of the vehicle to be close to the site.

[0177] If the current position of the vehicle is in a range of an entrance of a corresponding site, the server sends site information to be broadcast to the site device, so that the site device broadcasts corresponding site information to the vehicle terminal.

[0178] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or software. In addition, the specific name of each functional unit and module is only for convenient distinction, and does not limit the protection scope of the present application. The specific working process of the unit and module in the above system can refer to the corresponding process in the foregoing method embodiment, and will not be repeated here.

[0179] In order to realize the above-mentioned embodiments, the present application further provides a terminal device.

[0180] Figure 7 The structure schematic diagram of the terminal device of one embodiment of the present application.

[0181] As Figure 7 shown, the terminal device 600 includes:

[0182] The memory 610 and the at least one processor 620, the bus 630 connecting different components including the memory 610 and the processor 620, the memory 610 storing a computer program, when the processor 620 executes the program, the site information broadcast method described in the embodiments of the present application is realized.

[0183] Bus 630 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0184] Terminal device 600 typically includes various electronically readable media. These media can be any available media that can be accessed by terminal device 600, including volatile and non-volatile media, removable and non-removable media.

[0185] Memory 610 may also include computer system readable media in the form of volatile memory, such as random access memory (RAM) 640 and / or cache memory 650. Terminal device 600 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 660 can be used to read and write non-removable, non-volatile magnetic media (…). Figure 7 Not shown; usually referred to as a "hard drive"). Although Figure 7 As not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 630 via one or more data media interfaces. Memory 610 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0186] A program / utility 680 having a set (at least one) of program modules 670 may be stored in, for example, memory 610. Such program modules 670 include—but are not limited to—an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 670 typically perform the functions and / or methods described in the embodiments of this application.

[0187] Terminal device 600 can also communicate with one or more external devices 690 such as a keyboard, a pointing device, a display 691, etc.; one or more devices that enable a user to interact with terminal device 600; and / or any devices (e.g., network card, modem, etc.) that enable terminal device 600 to communicate with one or more other computing devices. Such communication can occur via Input / Output (I / O) interface(s) 692. Still yet, terminal device 600 can communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and / or a public network (e.g., the Internet) via network adapter 693. As depicted, network adapter 693 communicates with the other components of terminal device 600 via bus 630. It should be appreciated that although not shown, other hardware and / or software modules could be used in conjunction with terminal device 600. Such as, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0188] Processor 620 performs a variety of functions as dictated by programs stored in memory 610.

[0189] It should be noted that the implementation process and technical principles of the terminal device of the embodiment are refer to the aforementioned explanation of the site information broadcasting method of the embodiment of the application, and will not be repeated here.

[0190] The embodiment of the application further provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the steps in each method embodiment.

[0191] The embodiment of the application provides a computer program product, when the computer program product is run on a terminal device, the terminal device is enabled to realize the steps in each method embodiment.

[0192] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program. The computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / terminal equipment, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium can not be an electrical carrier signal and a telecommunication signal.

[0193] The above-described embodiments are merely intended to illustrate the technical solutions of the present application, but not to limit them; even though the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for broadcasting site information, characterized in that, include: Acquire the positioning parameters sent by the vehicle terminal and the frontal image captured by the vehicle terminal; The vehicle's current location is determined based on the positioning parameters, the forward image, and the vehicle's entry and exit information at the station it is approaching. Based on the vehicle's current location, broadcast the corresponding station information to the vehicle; Determining the vehicle's current location based on the positioning parameters, the forward image, and the vehicle's entry / exit information for the station it is approaching includes: Determine the matching degree between the positioning parameters and the estimated location information of the vehicle, wherein the matching degree is the location similarity or the distance between the locations; By combining multiple set thresholds, and based on the relationship between the matching degree and the multiple set thresholds, and by combining the positioning parameters, the forward image, and the entry and exit information of the station the vehicle is about to approach, the current position of the vehicle is determined. The multiple set thresholds include a first set threshold, a third set threshold, and a second set threshold, arranged from high to low. The step of combining these multiple set thresholds, and based on the relationship between the matching degree and the multiple set thresholds, combined with the positioning parameters, the forward image, and the vehicle's entry / exit information at the station it is approaching, to determine the vehicle's current location includes: If the matching degree is higher than the first preset threshold, the current position of the vehicle is determined according to the positioning parameters; A first location is generated based on the positioning parameters and a preset first location association table; A second location is generated based on the image ahead, the vehicle's entry and exit information at the station it is approaching, and a preset second location association table; If the matching degree is not higher than the first set threshold but higher than the third set threshold, the current position is determined based on the first position and the second position, using the first position as a reference. If the matching degree is not higher than the third set threshold but higher than the second set threshold, the current position is determined based on the second position and the first and second positions.

2. The method as described in claim 1, characterized in that, The entry / exit information includes images of entrance markers. Determining the vehicle's current location based on the positioning parameters, the forward image, and the entry / exit information of the station the vehicle is about to approach includes: Based on the positioning parameters, find images of stations and corresponding entrance markers within a distance range specified in the positioning parameters; The image in front is compared with the image of the entrance marker to determine whether the entrance marker appears in the image in front. If this occurs, the distance and position of the current vehicle from the entrance marker are determined using a depth-of-field algorithm; The current position of the vehicle is determined by combining the distance and position of the vehicle from the entrance marker, as well as the position of the entrance marker.

3. The method as described in claim 1, characterized in that, The positioning parameters include: latitude and longitude, signal strength, number of satellites received, and vehicle speed. Determining the matching degree between the positioning parameters and the vehicle's estimated location information includes: Calculate the distance between the latitude and longitude of the estimated location information and the latitude and longitude in the positioning parameters; The matching degree is obtained by calculating the sum of the products of each parameter and its corresponding weight based on the distance between the two latitude and longitude coordinates, signal strength, number of satellites received, and vehicle speed.

4. The method as described in claim 1, characterized in that, The positioning parameters include: latitude and longitude, signal strength, number of satellites received, and vehicle speed. Determining the matching degree between the positioning parameters and the vehicle's estimated location information includes: Based on the distance between the latitude and longitude of the estimated location information and the latitude and longitude in the positioning parameters, determine whether the latitude and longitude in the positioning parameters are within the set range corresponding to the latitude and longitude of the estimated location information; If it is in the state, assign the weight corresponding to the latitude and longitude as the first preset weight; if it is not in the state, assign the weight corresponding to the latitude and longitude as the second preset weight. The matching degree is obtained by calculating the sum of the products of each parameter and its corresponding weight, based on the weights of latitude and longitude, signal strength, number of satellites received, and vehicle speed.

5. The method as described in claim 1, characterized in that, The positioning parameters are derived from a satellite positioning module installed on the vehicle. These parameters include a positioning status indicator. If the positioning status indicator corresponds to a failed positioning, determining the vehicle's current location based on the positioning parameters, the forward image, and the vehicle's entry / exit information for the station it is approaching includes: The vehicle's current location is determined based on the image ahead and the vehicle's entry / exit information at the station it is approaching.

6. The method as described in claim 5, characterized in that, Determining the vehicle's current position based on the foreground image and the vehicle's entry / exit information at the station it is approaching includes: The forward image is compared with the image of the station entrance marker corresponding to the estimated location of the vehicle to determine whether the entrance marker appears in the forward image; If this occurs, the distance and position of the current vehicle from the entrance marker are determined using a depth-of-field algorithm; The current position of the vehicle is determined by combining the distance and position of the vehicle from the entrance marker, as well as the position of the entrance marker.

7. The method as described in claim 5, characterized in that, Determining the vehicle's current position based on the foreground image and the vehicle's entry / exit information at the station it is approaching includes: The forward image is compared with the image of the station entrance marker corresponding to the estimated location of the vehicle to determine whether the entrance marker appears in the forward image; If this occurs, the current position of the vehicle is determined based on the image ahead, the vehicle's entry and exit information at the station it is approaching, and a preset second location association table.

8. The method as described in claim 1, characterized in that, Based on the vehicle's current location, broadcast the corresponding station information to the vehicle, including: Based on the vehicle's current location and the location of the station to be approached, and in conjunction with the vehicle's speed, determine the preset time for the vehicle to reach the station to be approached. And based on the duration and the duration of the broadcast content of the site information, the broadcast time is determined; After the designated broadcast time is reached, the station information will be broadcast.

9. A server, characterized in that, include: The acquisition module acquires the positioning parameters sent by the vehicle terminal and the forward image captured by the vehicle terminal. The vehicle current location determination module determines the vehicle's current location based on the positioning parameters, the forward image, and the vehicle's entry and exit information at the station it is about to approach. The broadcasting module broadcasts the corresponding station information to the vehicle based on its current location. The step of determining the current position of the vehicle based on the positioning parameters, the forward image, and the entry / exit information of the station the vehicle is about to approach includes: determining the matching degree between the positioning parameters and the estimated position information of the vehicle, wherein the matching degree is the position similarity or the distance between the positions; and determining the current position of the vehicle based on the relationship between the matching degree and the multiple set thresholds, combined with the positioning parameters, the forward image, and the entry / exit information of the station the vehicle is about to approach. The multiple set thresholds include a first set threshold, a third set threshold, and a second set threshold arranged from high to low. The step of combining the multiple set thresholds and determining the vehicle's current position based on the matching degree and the relationship between the multiple set thresholds, combined with the positioning parameters, the forward image, and the vehicle's entry / exit information at the station to which it is approaching, includes: if the matching degree is higher than the first set threshold, determining the vehicle's current position based on the positioning parameters; generating a first position based on the positioning parameters and a preset first position association table; generating a second position based on the forward image, the vehicle's entry / exit information at the station to which it is approaching, and a preset second position association table; if the matching degree is not higher than the first set threshold but higher than the third set threshold, determining the current position based on the first position and the second position, using the first position as a reference; if the matching degree is not higher than the third set threshold but higher than the second set threshold, determining the current position based on the second position and the first position and the second position.

10. A vehicle, characterized in that, include: The positioning module is used to obtain the vehicle's current positioning parameters; The entry / exit information acquisition module is used to acquire entry / exit information of vehicles approaching the station; Image recording module, used to capture images of the front of the vehicle; The processing module determines the current location of the vehicle based on the positioning parameters, the forward image, and the entry / exit information of the station the vehicle is about to approach; or, the sending module sends the positioning parameters, the forward image, and the entry / exit information of the station the vehicle is about to approach to the server, so that the server determines the current location of the vehicle based on the positioning parameters, the forward image, and the entry / exit information of the station the vehicle is about to approach. The station broadcast information receiving module receives station information broadcast by the station equipment if the vehicle's current location is within the entrance range of the corresponding station. The step of determining the current position of the vehicle based on the positioning parameters, the forward image, and the entry / exit information of the station the vehicle is about to approach includes: determining the matching degree between the positioning parameters and the estimated position information of the vehicle, wherein the matching degree is the position similarity or the distance between the positions; and determining the current position of the vehicle based on the relationship between the matching degree and the multiple set thresholds, combined with the positioning parameters, the forward image, and the entry / exit information of the station the vehicle is about to approach. The multiple set thresholds include a first set threshold, a third set threshold, and a second set threshold arranged from high to low. The step of combining the multiple set thresholds and determining the vehicle's current position based on the matching degree and the relationship between the multiple set thresholds, combined with the positioning parameters, the forward image, and the vehicle's entry / exit information at the station to which it is approaching, includes: if the matching degree is higher than the first set threshold, determining the vehicle's current position based on the positioning parameters; generating a first position based on the positioning parameters and a preset first position association table; generating a second position based on the forward image, the vehicle's entry / exit information at the station to which it is approaching, and a preset second position association table; if the matching degree is not higher than the first set threshold but higher than the third set threshold, determining the current position based on the first position and the second position, using the first position as a reference; if the matching degree is not higher than the third set threshold but higher than the second set threshold, determining the current position based on the second position and the first position and the second position.

11. A site information broadcasting system, characterized in that, This includes servers, site equipment, and vehicles; The vehicle sends its current positioning parameters and the image in front of it to the server, and the station equipment sends the vehicle's entry and exit information to the server. The server determines the vehicle's current location based on the positioning parameters, the forward image, and the vehicle's entry and exit information at the station it is about to approach. If the vehicle's current location is within the entrance range of the corresponding station, the server sends the station information to be broadcast to the station device, so that the station device broadcasts the corresponding station information to the vehicle terminal. The step of determining the current position of the vehicle based on the positioning parameters, the forward image, and the entry / exit information of the station the vehicle is about to approach includes: determining the matching degree between the positioning parameters and the estimated position information of the vehicle, wherein the matching degree is the position similarity or the distance between the positions; and determining the current position of the vehicle based on the relationship between the matching degree and the multiple set thresholds, combined with the positioning parameters, the forward image, and the entry / exit information of the station the vehicle is about to approach. The multiple set thresholds include a first set threshold, a third set threshold, and a second set threshold arranged from high to low. The step of combining the multiple set thresholds and determining the vehicle's current position based on the matching degree and the relationship between the multiple set thresholds, combined with the positioning parameters, the forward image, and the vehicle's entry / exit information at the station to which it is approaching, includes: if the matching degree is higher than the first set threshold, determining the vehicle's current position based on the positioning parameters; generating a first position based on the positioning parameters and a preset first position association table; generating a second position based on the forward image, the vehicle's entry / exit information at the station to which it is approaching, and a preset second position association table; if the matching degree is not higher than the first set threshold but higher than the third set threshold, determining the current position based on the first position and the second position, using the first position as a reference; if the matching degree is not higher than the third set threshold but higher than the second set threshold, determining the current position based on the second position and the first position and the second position.

12. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1-8.

13. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-8.

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