Vehicle positioning method, system, medium and terminal

Abstract

The present invention provides a vehicle positioning method, system, medium and terminal; the method includes the following steps: in response to a specific place in the forward direction of the vehicle, before the vehicle enters the specific place, obtain an exit picture set of the specific place and positioning information corresponding to the exit picture set; in response to the vehicle entering the specific place, obtain an exit environment picture set; match the exit environment picture set with the exit picture set; in response to the matching degree between the exit environment picture set and the exit picture set being greater than a second set threshold, perform navigation positioning according to the positioning information; by obtaining the exit picture set and positioning information corresponding to the specific place, the present invention performs feature matching between the obtained exit environment picture set and the exit picture set to determine the exit and its corresponding positioning information, and then realizes navigation positioning according to the positioning information, effectively solving the problem that existing vehicles rely on satellite signal positioning and it is difficult to quickly position when encountering this specific place.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle positioning, and particularly relates to a vehicle positioning method, system, medium and terminal. Background Art

[0002] When a vehicle drives out of an underground garage or a tunnel, since there is no satellite positioning signal in the underground garage or the tunnel, it is necessary to re - establish communication with the satellite after leaving the garage to obtain the current latitude and longitude information. The duration of this process is affected by various random factors such as the current satellite position and weather. Sometimes it may take a relatively long time. During this period, the navigation is invalid, and the driver needs to wait at the garage entrance for the positioning information, resulting in congestion at the exit. Summary of the Invention

[0003] In view of the above - mentioned disadvantages of the prior art, the purpose of the present invention is to provide a vehicle positioning method, system, medium and terminal, which is used to solve the problem that it is difficult for existing vehicles to quickly position when driving in places with weak satellite signals.

[0004] Another purpose of the present invention is to provide a vehicle positioning method, system, medium and terminal, which provides a new method for vehicle positioning using pictures. By obtaining an exit picture set corresponding to a specific place where the satellite signal strength is less than a first set threshold and the positioning information corresponding to the exit picture set, and performing feature matching between the obtained exit environment picture set and the exit picture set, the exit and its corresponding positioning information are determined, and then navigation positioning is realized according to the positioning information, effectively solving the problem that existing vehicles rely on satellite signal positioning and it is difficult to quickly position when encountering this specific place.

[0005] Another purpose of the present invention is to provide a vehicle positioning method, system, medium and terminal. Based on the entrance environment picture obtained before entering a specific place and the position information corresponding to the entrance environment picture, it is judged whether the vehicle enters the specific place, so as to timely obtain the exit picture set of the specific place and the positioning information corresponding to the exit picture set before the vehicle enters the specific place.

[0006] Another purpose of the present invention is to provide a vehicle positioning method, system, medium and terminal. By pre - collecting and obtaining the exit picture set of a specific place, the positioning information corresponding to the exit picture set and the entrance picture set, and continuously updating the exit picture set, the positioning information corresponding to the exit picture set and the entrance picture set, it is ensured that the vehicle can achieve fast and reliable positioning after encountering the specific place.

[0007] To achieve the above object and other related objects, on the one hand, the present invention provides a vehicle positioning method, which is applied to a terminal and includes the following steps: in response to a specific place in the forward direction of the vehicle, before the vehicle enters the specific place, obtain an exit picture set of the specific place and positioning information corresponding to the exit picture set; the satellite signal strength of the specific place is less than a first set threshold; in response to the vehicle entering the specific place, obtain an exit environment picture set; match the exit environment picture set with the exit picture set; in response to the matching degree between the exit environment picture set and the exit picture set being greater than a second set threshold, perform navigation positioning according to the positioning information.

[0008] To achieve the above object and other related objects, on the other hand, the present invention provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above vehicle positioning method is implemented.

[0009] To achieve the above object and other related objects, on the other hand, the present invention provides a terminal, including: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the computer program stored in the memory so that the terminal executes the above vehicle positioning method.

[0010] To achieve the above object and other related objects, on the other hand, the present invention provides a vehicle positioning system, including: a camera, a server and the above terminal; the camera is communicatively connected to the terminal and is used to collect exit environment pictures and send the exit environment pictures to the terminal; the server is communicatively connected to the terminal and is used to store the exit picture set and the positioning information corresponding to the exit picture set. Description of the Drawings

[0011] Figure 1 It shows a schematic structural diagram of the terminal of the present invention in an embodiment.

[0012] Figure 2 It shows an application scenario architecture diagram of the vehicle positioning method of the present invention in an embodiment.

[0013] Figure 3 It shows a flowchart of the vehicle positioning method of the present invention in an embodiment.

[0014] Figure 4 It shows a flowchart of determining whether there is a specific place in the forward direction of the vehicle according to the present invention in an embodiment.

[0015] Figure 5 It shows a flowchart of determining whether the vehicle enters a specific place according to the present invention in an embodiment.

[0016] Figure 6Shown is a flowchart in an embodiment of the vehicle positioning method of the present invention before obtaining the exit picture set of a specific place and the positioning information corresponding to the exit picture set.

[0017] Figure 7 Shown is a flowchart in an embodiment of the vehicle positioning method of the present invention in response to the satellite signal strength being not less than the first set threshold and the matching degree between the exit environment picture set and the exit picture set being not greater than the second set threshold.

[0018] Figure 8 Shown is a schematic structural diagram in an embodiment of the vehicle positioning system of the present invention.

[0019] Label description

[0020] 1 Terminal

[0021] 11 Processing unit

[0022] 12 Memory

[0023] 121 Random access memory

[0024] 122 Cache memory

[0025] 123 Storage system

[0026] 124 Program / utility

[0027] 1241 Program module

[0028] 13 Bus

[0029] 14 Input / output interface

[0030] 15 Network adapter

[0031] 2 External device

[0032] 3 Display

[0033] 21 Smart phone

[0034] 22 Vehicle

[0035] 23 On-vehicle camera

[0036] 24 Server

[0037] 81 Camera

[0038] 82 Server

[0039] 83 Terminal

[0040] Steps S1 to S4

[0041] Steps S111 to S117

[0042] Steps S121 to S122

[0043] Steps S131 to S133

[0044] Steps S71 to S74 Detailed implementation manners

[0045] The following describes the implementation manners of the present invention through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following examples and the features in the examples can be combined with each other.

[0046] It should be noted that the diagrams provided in the following examples only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0047] The vehicle positioning method, system, medium, and terminal of the present invention provide a new method for realizing vehicle positioning using pictures. By obtaining an exit picture set corresponding to a specific place where the satellite signal strength is less than a first set threshold and the positioning information corresponding to the exit picture set, the obtained exit environment picture set is feature-matched with the exit picture set to determine the exit and its corresponding positioning information, and then navigation positioning is realized according to the positioning information, effectively solving the problem that existing vehicles rely on satellite signal positioning and it is difficult to quickly position when encountering this specific place; based on the entrance environment picture obtained before entering a specific place and the position information corresponding to the entrance environment picture, it is judged whether the vehicle enters the specific place, so as to timely obtain the exit picture set of the specific place and the positioning information corresponding to the exit picture set before the vehicle enters the specific place; by collecting in advance the exit picture set, the positioning information corresponding to the exit picture set, and the entrance picture set of a specific place, and continuously updating the exit picture set, the positioning information corresponding to the exit picture set, and the entrance picture set, it is ensured that the vehicle can achieve fast and reliable positioning when encountering a specific place.

[0048] A computer program is stored on the storage medium of the present invention, and when the computer program is executed by a processor, the following vehicle positioning method is implemented. The storage medium includes: various media that can store program codes, such as read-only memory (ROM), random access memory (RAM), magnetic disks, USB flash drives, memory cards, or optical discs.

[0049] Any combination of one or more storage media can be adopted. The storage medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, RAM, ROM, erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0050] A computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including, but not limited to, an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0051] The program code contained on a computer-readable medium can be transmitted using any appropriate medium, including, but not limited to, wireless, wired, optical fiber, RF, etc., or any suitable combination of the above.

[0052] Computer program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, Smalltalk, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0053] The present invention will now be described with reference to the flowchart and / or block diagram of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each block of the flowchart and / or block diagram, and the combinations of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, thereby producing a machine such that the computer program instructions, when executed by the processor of the computer or other programmable data processing apparatus, generate a means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0054] These computer program instructions may also be stored in a computer-readable medium, which instructions cause a computer, other programmable data processing apparatus, or other device to operate in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instructions for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0055] The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device, such that a series of operation steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide a process for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0056] The terminal of the present invention includes a processor and a memory.

[0057] The memory is used to store computer programs; preferably, the memory includes various media that can store program codes, such as ROM, RAM, magnetic disks, USB flash drives, memory cards, or optical discs.

[0058] The processor is connected to the memory and is used to execute the computer program stored in the memory, so that the terminal executes the following vehicle positioning method.

[0059] Preferably, the processor can be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it can also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0060] Figure 1 The block diagram of an exemplary terminal 1 suitable for implementing the embodiments of the present invention is shown.

[0061] Figure 1 The displayed terminal 1 is only an example and should not impose any restrictions on the functions and usage scope of the embodiments of the present invention.

[0062] As Figure 1 shown, the terminal 1 is presented in the form of a general computing device. The components of the terminal 1 may include, but are not limited to: one or more processors or processing units 11, a memory 12, and a bus 13 connecting different system components (including the memory 12 and the processing unit 11).

[0063] Bus 13 represents one or more of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, an Accelerated Graphics Port, a processor bus, or a local bus using any of the various bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0064] Terminal 1 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by Terminal 1, including both volatile and nonvolatile media, removable and non-removable media.

[0065] Memory 12 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 121 and / or cache memory 122. Terminal 1 can further include other removable / non-removable, volatile / nonvolatile computer system storage media. By way of example only, storage system 123 can be used for reading from and writing to non-removable, nonvolatile magnetic media ( Figure 1 not shown, typically referred to as a "hard disk drive"). Although Figure 1 not shown in the figures, a disk drive for reading from and writing to a removable nonvolatile disk (e.g., a "floppy disk"), and an optical disk drive for reading from and writing to a removable nonvolatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to Bus 13 by one or more data media interfaces. Memory 12 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of the embodiments of the present invention.

[0066] A program / utility 124 having a set (at least one) of program modules 1241 can be stored, for example, in Memory 12. Such program modules 1241 include—but are not limited to—an operating system, one or more application programs, other program modules, and program data, and an implementation of a network environment may be included in each or some combination of these examples. Program modules 1241 generally carry out the functions and / or methods of the embodiments described herein.

[0067] The terminal 1 can also communicate with one or more external devices 2 (such as a keyboard, a pointing device, a display 3, etc.), and can also communicate with one or more devices that enable a user to interact with the terminal 1, and / or communicate with any device that enables the terminal 1 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 14. Moreover, the terminal 1 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 15. As Figure 1 shown, the network adapter 15 communicates with other modules of the terminal 1 through the bus 13. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in combination with the terminal 1, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0068] In one embodiment, the terminal is an in-vehicle terminal.

[0069] It should be noted that the in-vehicle terminal is equipped with an in-vehicle infotainment system. The in-vehicle infotainment system (In-Vehicle Infotainment, abbreviated as IVI) is an in-vehicle integrated information processing system that uses a dedicated in-vehicle central processing unit and is based on the vehicle body bus system and Internet services. The IVI can implement a series of applications including three-dimensional navigation, real-time traffic conditions, IPTV, assisted driving, fault detection, vehicle information, vehicle body control, wireless communication, online-based entertainment functions, and TSP services, etc. Cameras, microphones, etc. (not shown) electrically connected to the in-vehicle terminal are also provided inside the vehicle. The specific installation quantity and installation positions can be set by those skilled in the art according to requirements.

[0070] In one embodiment, the terminal is a smart terminal.

[0071] It should be noted that the smart terminal includes but is not limited to smartphones, tablet computers, personal digital assistants (PDAs), and other terminal devices with data processing functions; generally, a smart terminal refers to a terminal device with an independent operating system, which can install programs provided by third-party service providers such as software and games by the user, continuously expand the functions of the handheld device through such programs, and can access the wireless network through the mobile communication network.

[0072] As Figure 2 shown, in one embodiment, the vehicle positioning method of the present invention is applied to Figure 2The smart phone 21 in is used in the scenario where a vehicle travels through a tunnel. Specifically, the working principle of the vehicle positioning method is as follows:

[0073] First, during the driving process of the vehicle 22 in Figure 2 the on-vehicle camera 23 on the vehicle 22 periodically captures the environmental pictures around the vehicle 22 and sends the environmental pictures to the on-vehicle terminal of the vehicle 22 (not shown in Figure 2 ), so that the on-vehicle terminal then sends the environmental pictures to the smart phone 21 (the smart phone 21 is communicatively connected to the on-vehicle terminal of the vehicle 22).

[0074] The smart phone 21 is communicatively connected to the server 24 in Figure 2 and is used to download from the server 24 all the entrance picture sets of specific places (the satellite signal strength of the specific place is less than a set threshold value), including the entrance picture set of the tunnel. After the smart phone 21 receives the environmental pictures sent by the above on-vehicle terminal, the smart phone 21 compares the environmental pictures with the entrance picture set. When it is found that the vehicle 22 may enter the tunnel, the smart phone 21 downloads the exit picture set of the tunnel and the positioning information corresponding to the exit picture set from the server 24.

[0075] After the vehicle 22 enters the tunnel, the on-vehicle camera 23 still periodically captures the environmental pictures around the vehicle 22 and sends them to the on-vehicle terminal of the vehicle 22, so that the on-vehicle terminal then sends the environmental pictures to the smart phone 21. After the smart phone 21 receives the environmental pictures, it performs feature matching on the environmental pictures with the above-mentioned exit picture set. If it is found that the matching degree between the environmental pictures and some pictures in a certain exit picture subset in the exit picture set reaches the preset threshold value, it is considered that the matching is successful. At this time, navigation positioning is performed according to the positioning information corresponding to the exit picture subset.

[0076] As Figure 3 shown, in an embodiment, the vehicle positioning method of the present invention includes the following steps:

[0077] Step S1: In response to the vehicle having a specific place in the forward direction, before the vehicle enters the specific place, obtain the exit picture set of the specific place and the positioning information corresponding to the exit picture set.

[0078] In an embodiment, the exit picture set and the positioning information corresponding to the exit picture set in step S1 are stored in the server. When the terminal executes step S1, the exit picture set and the positioning information corresponding to the exit picture set are downloaded from the server.

[0079] It should be noted that the satellite signal strength of the specific place is less than the first set threshold value.

[0080] It should be noted that the first set threshold is preset, and the specific value set for it is not a condition limiting the present invention. In actual applications, it can be set according to the specific application scenario.

[0081] In one embodiment, the specific place has at least one exit; the exit picture set includes an exit picture subset corresponding to each exit; each exit picture subset corresponds to a piece of positioning information (using this positioning information as the position information of the exit corresponding to the exit picture subset); each exit picture subset includes at least one exit picture (this exit picture is the picture of the exit corresponding to the exit picture subset).

[0082] In one embodiment, all the exit pictures in the exit picture subset form a picture sequence, and the positioning information is marked on this picture sequence.

[0083] It should be noted that binding the positioning information to the picture sequence realizes a simple and useful data structure.

[0084] In one embodiment, according to whether there is a specific place (such as an underground garage, a tunnel, etc.) in the waypoint of the vehicle navigation information, it is judged whether the vehicle may enter the specific place.

[0085] In one embodiment, after the vehicle determines the navigation route, all the data on this navigation route (including but not limited to the exit picture set of the specific place passed through and the positioning information corresponding to the exit picture set) are downloaded from the server in advance, so that after the vehicle enters the specific place, the following step S2 can be directly executed.

[0086] It should be noted that, in addition to the above embodiments, other technical means can also be adopted to judge whether the vehicle may enter the specific place. For details, see Figure 4 .

[0087] Such as Figure 4 As shown, in one embodiment, before responding to the fact that there is a specific place in the forward direction of the vehicle, the method further includes the following steps:

[0088] Step S111: Obtain the first environmental picture.

[0089] Step S112: Mark the corresponding position information for the first environmental picture.

[0090] Step S113: Judge whether the first environmental picture marked with position information exists in the entrance picture set of the specific place.

[0091] Specifically, in addition to performing picture comparison, and / or by comparing the position information, it is judged whether the first environmental picture exists in the entrance picture set of the specific place, so as to improve the accuracy and reliability of the judgment result.

[0092] In one embodiment, step S113 may also be: determining whether the first environmental picture obtained in step S111 exists in the entrance picture set of the specific place.

[0093] Specifically, by comparing the first environmental picture with the entrance picture set, it is determined whether the first environmental picture exists in the entrance picture set.

[0094] It should be noted that if the first environmental picture exists in the entrance picture set of the specific place, the forward direction of the vehicle is towards the specific place.

[0095] It should be noted that the specific place has at least one entrance; the entrance picture set includes an entrance picture subset corresponding to each entrance; each entrance picture subset includes at least one entrance picture.

[0096] In one embodiment, the entrance picture set in step S113 is stored in a server, and when the terminal executes step S113, it can be downloaded from the server.

[0097] In one embodiment, the first environmental picture obtained through step S111 and / or the first environmental picture marked with location information obtained through step S112 may also be uploaded to the server, so that the server can determine whether the first environmental picture and / or the first environmental picture marked with location information exists in the entrance picture set of the specific place.

[0098] In one embodiment, in response to the first environmental picture marked with location information not existing in the entrance picture set of the specific place, step S114 is executed.

[0099] Step S114: Based on the location information, determine whether the specific place can be determined.

[0100] It should be noted that for a specific place, its location is fixed. Therefore, after obtaining the location information of the first environmental picture, it can be determined whether the specific place can be determined by comparing the location information with the location of the specific place; in actual application scenarios, there may be a situation where the first environmental picture does not exist in the entrance picture set of the specific place, but according to the location information on the first environmental picture, the specific place can be determined.

[0101] For example, in one embodiment, at a specific location (it is known that the specific location has 4 entrances, and the positions of these 4 entrances are A1, A2, A3, and A4 respectively), only the subset of entrance pictures corresponding to the first 3 entrances is obtained currently (the set of entrance pictures corresponding to step S13 only includes the subset of entrance pictures corresponding to the first 3 entrances). Then, when the vehicle is traveling at the 4th entrance, the first environmental picture collected is not in the set of entrance pictures. However, at this time, by comparing the position information marked on the first environmental picture with A4, the specific location can be determined.

[0102] It should be noted that the entrance pictures in the subset of entrance pictures are all marked with corresponding position information.

[0103] It should be noted that if the specific location can be determined in step S114, then the forward direction of the vehicle has the specific location.

[0104] In one embodiment, in response to the first environmental picture marked with position information not existing in the set of entrance pictures of the specific location, the method further includes the following steps:

[0105] Step S115: Form a new subset of entrance pictures based on the first environmental picture marked with position information.

[0106] It should be noted that if it is determined in step S114 that the specific location can be determined, then step S116 is executed; if it is determined in step S114 that the specific location cannot be determined, then step S117 is executed.

[0107] In one embodiment, the first target environmental picture is screened out from the first environmental picture marked with position information, so as to form the new subset of entrance pictures by using the first target environmental picture.

[0108] In one embodiment, when the intensity of the satellite signal changes from not less than the first set threshold to less than the first set threshold, the first environmental picture marked with position information obtained within a certain period of time before the satellite signal is less than the first set threshold is used as the first target environmental picture.

[0109] Step S116: Update the set of entrance pictures by using the new subset of entrance pictures.

[0110] In one embodiment, the new subset of entrance pictures is uploaded to the server to update the set of entrance pictures corresponding to the specific location stored on the server.

[0111] It should be noted that in step S116, the new subset of entrance pictures corresponds to the new entrances of the specific location.

[0112] Step S117: Update the set of entrance pictures of the new specific location by using the new subset of entrance pictures.

[0113] In one embodiment, the new entrance picture subset is uploaded to the server to update the entrance picture set of a new specific place stored on the server.

[0114] It should be noted that in step S117, the new entrance picture subset corresponds to an entrance of a new specific place.

[0115] As Figure 5 shown, in one embodiment, before the vehicle enters the specific place, the method further includes the following steps:

[0116] Step S121, obtaining the satellite signal strength of the vehicle during driving.

[0117] Step S122, determining whether the satellite signal strength is less than the first set threshold.

[0118] It should be noted that if the satellite signal strength is less than the first set threshold, the vehicle enters the specific place; if the satellite signal strength is not less than the first set threshold, the vehicle does not enter the specific place.

[0119] As Figure 6 shown, in one embodiment, before obtaining the exit picture set of the specific place and the positioning information corresponding to the exit picture set, the method further includes the following steps:

[0120] Step S131, determining whether the exit picture set and the positioning information can be obtained.

[0121] In response to being unable to obtain the exit picture set and the positioning information, step S132 and step S133 are executed.

[0122] Step S132, updating the exit picture set with the exit environment picture set.

[0123] In one embodiment, the exit environment picture set is uploaded to the server to update the exit picture set of the specific place stored on the server.

[0124] It should be noted that the exit environment picture set is the second new exit picture subset in the exit picture set; the second new exit picture subset corresponds to a new exit of the specific place.

[0125] In response to the satellite signal not being less than the first set threshold, step S133 is executed.

[0126] Step S133, obtaining the second current position of the vehicle based on the satellite signal.

[0127] It should be noted that the second current position is the positioning information corresponding to the second new export picture subset.

[0128] Step S2: In response to the vehicle entering the specific place, obtain a set of export environment pictures.

[0129] In one embodiment, the obtaining of the set of export environment pictures includes the following steps: Obtain second environment pictures to form the set of export environment pictures based on the second environment pictures.

[0130] It should be noted that this embodiment is for the scenario where the vehicle passes through a specific place without staying in the specific place, such as the vehicle passing through a tunnel; of course, it can also be applied to the situation where the vehicle stays in a specific place.

[0131] In one embodiment, forming the set of export environment pictures based on the second environment pictures includes the following steps: Screen out second target environment pictures from the second environment pictures to form the set of export environment pictures by using the second target environment pictures.

[0132] In one embodiment, when the intensity of the satellite signal changes from less than the first set threshold to not less than the first set threshold, use the second environment pictures obtained within a certain period before the satellite signal is not less than the first set threshold as the second target environment pictures.

[0133] In one embodiment, the obtaining of the set of export environment pictures includes the following steps: After the vehicle enters the specific place, restart within the specific place to obtain third environment pictures to form the set of export environment pictures based on the third environment pictures.

[0134] It should be noted that this embodiment is for the scenario where the vehicle stays in a specific place, such as in a garage.

[0135] In one embodiment, when the vehicle enters a specific place and for the first time the satellite signal is not less than the first set threshold (the satellite signal changes from less than the first set threshold to not less than the first set threshold), stop obtaining the second environment pictures or the third environment pictures.

[0136] It should be noted that the principle of forming the set of export environment pictures based on the third environment pictures is the same as that of forming the set of export environment pictures based on the second environment pictures above, so it will not be elaborated in detail here.

[0137] Step S3: Match the set of export environment pictures with the set of export pictures.

[0138] It should be noted that this step S3 is implemented based on the principle of image feature matching. The specific working principle of image feature matching is not a condition for restricting the present invention, so it will not be elaborated in detail here either.

[0139] Step S4. In response to the matching degree between the exit environment picture set and the exit picture set being greater than a second set threshold, perform navigation positioning according to the positioning information.

[0140] Specifically, in response to the matching degree between the exit environment picture set and some pictures in an exit picture subset in the exit picture set being greater than the second set threshold, perform navigation positioning according to the positioning information corresponding to this exit picture subset.

[0141] It should be noted that this second set threshold is preset, and what specific value it is set to is not a condition for limiting the present invention. In actual applications, it can be set according to specific application scenarios.

[0142] As Figure 7 shown, in an embodiment, in response to the satellite signal strength being not less than the first set threshold and the matching degree between the exit environment picture set and the exit picture set being not greater than the second set threshold, execute steps S71 to S74.

[0143] Step S71. Obtain the first current position of the vehicle based on the satellite signal.

[0144] Step S72. Calculate the distance between the first current position and the positioning information.

[0145] Specifically, calculate the distance between the first current position and the positioning information corresponding to each exit picture subset in the exit picture set.

[0146] In response to the distance satisfying a preset condition, execute step S73; in response to the distance not satisfying the preset condition, execute step S74.

[0147] In an embodiment, this preset condition is: the distance between the first current position and the positioning information is less than a third set threshold.

[0148] It should be noted that if the distance calculated in step S72 satisfies the preset condition, it indicates that the first current position and the positioning information corresponding to an exit picture subset in the exit picture set are the same position information, then it is considered that the exit corresponding to this exit environment picture set and the exit corresponding to this exit picture subset are the same exit.

[0149] Step S73. Update an exit picture subset of the specific place using the exit environment picture set.

[0150] In an embodiment, upload this exit environment picture set to the server to update an exit picture subset in the exit picture set stored on the server corresponding to this specific place.

[0151] Specifically, when the satellite signal is not less than the first set threshold, the above-mentioned set of pictures of the exit environment can be uploaded to the server.

[0152] Step S74: Update the set of exit pictures using the set of pictures of the exit environment.

[0153] In one embodiment, the set of pictures of the exit environment is uploaded to the server to update the set of exit pictures corresponding to the specific venue stored on the server.

[0154] It should be noted that the set of pictures of the exit environment is the first new subset of exit pictures in the set of exit pictures; the first new subset of exit pictures corresponds to the new exit of the specific venue, and the first current position is the positioning information corresponding to the first new subset of exit pictures.

[0155] The vehicle positioning method of the present invention will be further explained and illustrated below through specific embodiments.

[0156] In one embodiment, vehicle A takes pictures regularly. After losing the satellite signal when entering the garage, vehicle A will save a picture sequence composed of several pictures taken before losing the satellite signal with the corresponding GPS position information marked.

[0157] When the driver starts vehicle A again and is about to drive vehicle A out of the garage, the vehicle computer will take pictures regularly until the first GPS positioning information is obtained, and then stop taking pictures and save the corresponding picture sequence with the position information marked; after vehicle A drives out of the garage and when the 4G or 5G communication network is connected, the above-mentioned marked picture data is uploaded to the server.

[0158] It should be noted that during use, the server will receive multiple data and continuously optimize the database.

[0159] The above completes the original collection of data and automatically uploads it to the server.

[0160] Vehicle B runs the same program as vehicle A:

[0161] Vehicle B takes pictures regularly, saves the picture position information, and compares it with the pictures stored in the warehouse on the server in real time. When it is found that there is a possibility of being stored in the warehouse, it downloads all the photo sequences and the corresponding positioning information of multiple exits of the corresponding garage.

[0162] When vehicle B exits the garage, it takes pictures at regular time intervals. Each picture taken is sequentially subjected to feature matching with the picture sequences corresponding to all exits in the garage downloaded in advance. If it is found that some pictures in the picture sequence of a certain channel have a matching degree reaching a preset threshold, it is considered that the matching is successful, and the GPS coordinate information corresponding to the corresponding pre-downloaded picture sequence is set to the navigation system; if until the vehicle exits the garage and satellite signals have been obtained, and the pictures have not been successfully matched, it is considered that the matching fails. At this time, the data augmentation process is executed. First, the obtained GPS data is compared with the previously downloaded GPS data to calculate the distance. If the distance is less than a threshold, it is considered to be the same exit. At this time, the pictures collected this time and the pictures corresponding to the previous coordinates are mixed to enrich the data set; if the calculated GPS geographical coordinate distance is not less than the threshold, it is considered that a new exit is taken this time, and a new set of data will be created. In this way, by continuously and automatically enriching the coordinate picture sequence library, the success rate of picture matching will be higher and higher.

[0163] In the above process, the separate descriptions of vehicle A and vehicle B are only for easy understanding. In fact, each vehicle can perform the functions of vehicle A and vehicle B, that is, each vehicle can be both a data collector and a data user.

[0164] It should be noted that the present invention uses satellite signals as the trigger condition (the satellite signal is less than the first set threshold, or not less than the first set threshold), realizing the automatic trigger of the entire method, without manual operation, the user is unaware, and the experience is good; through the idea of pre-storing and loading data, running through the whole process, ensuring that fast positioning can be achieved immediately without satellite signals and without network signals; effectively solving the problem that when a vehicle exits the garage or a tunnel, the satellite connection may be slow, resulting in vehicle congestion; by optimizing the process design, even if there is no network in the tunnel or garage at all, it does not affect the system performance.

[0165] It should be noted that the protection scope of the vehicle positioning method described in the present invention is not limited to the execution order of the steps listed in this embodiment. Any solution achieved by adding or subtracting steps of the prior art and replacing steps according to the principle of the present invention is included in the protection scope of the present invention.

[0166] As Figure 8 shown, in an embodiment, the vehicle positioning system of the present invention includes a camera 81, a server 82, and the above-mentioned terminal 83.

[0167] Specifically, the camera 81 is communicatively connected to the terminal 83, and is used for collecting pictures of the exit environment and sending the pictures of the exit environment to the terminal 83; the server 82 is communicatively connected to the terminal 83, and is used for storing the exit picture set and the positioning information corresponding to the exit picture set.

[0168] It should be noted that the working principle of the vehicle positioning system is the same as that of the above-mentioned vehicle positioning method, so it will not be elaborated here.

[0169] It should be noted that the vehicle positioning system of the present invention can implement the vehicle positioning method of the present invention. However, the implementation device of the vehicle positioning method of the present invention includes, but is not limited to, the structure of the vehicle positioning system listed in this embodiment. Any structural deformation and replacement of the prior art made according to the principle of the present invention are included in the protection scope of the present invention.

[0170] In summary, the vehicle positioning method, system, medium and terminal of the present invention provide a new method for realizing vehicle positioning by using pictures. By obtaining an exit picture set corresponding to a specific place where the satellite signal strength is less than a first set threshold and the positioning information corresponding to the exit picture set, the obtained exit environment picture set is feature-matched with the exit picture set to determine the exit and its corresponding positioning information, and then navigation positioning is realized according to the positioning information, effectively solving the problem that existing vehicles rely on satellite signal positioning and it is difficult to quickly position when encountering this specific place; based on the entrance environment picture obtained before entering the specific place and the position information corresponding to the entrance environment picture, it is judged whether the vehicle enters the specific place, so as to timely obtain the exit picture set of the specific place and the positioning information corresponding to the exit picture set before the vehicle enters the specific place; by pre-collecting and obtaining the exit picture set, the positioning information corresponding to the exit picture set and the entrance picture set of the specific place, and continuously updating the exit picture set, the positioning information corresponding to the exit picture set and the entrance picture set, it is ensured that the vehicle can achieve fast and reliable positioning after encountering the specific place; therefore, the present invention effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0171] The above embodiments are only illustrative of the principles and effects of the present invention, and are not used to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A vehicle positioning method, applied to a terminal, characterized in that, Including the following steps: In response to a specific location in the forward direction of the vehicle, before the satellite signal strength of the vehicle during driving is less than a first set threshold, obtain an exit picture set of the specific location and positioning information corresponding to the exit picture set. The specific location has at least one exit. The exit picture set includes an exit picture subset corresponding to each exit, and each exit picture subset corresponds to a piece of positioning information; the satellite signal strength of the specific location is less than the first set threshold; In response to the vehicle entering the specific location, obtain an exit environment picture set through a camera; Match the exit environment picture set with the exit picture set; In response to the matching degree between the exit environment picture set and some pictures in an exit picture subset of the exit picture set being greater than a second set threshold, perform navigation positioning according to the positioning information corresponding to the exit picture subset.

2. The method according to claim 1, before the response to a specific place in the forward direction of the vehicle, the method further comprises the following steps: Obtain a first environment picture; Judge whether the first environment picture exists in the entrance picture set of the specific location; the specific location has at least one entrance; the entrance picture set includes an entrance picture subset corresponding to each entrance; If the first environment picture exists in the entrance picture set of the specific location, then there is the specific location in the forward direction of the vehicle.

3. The method according to claim 2, before the response to a specific place in the forward direction of the vehicle, the method further comprises the following steps: Mark corresponding position information for the first environment picture; In response to the first environment picture not existing in the entrance picture set of the specific location, judge whether the specific location can be determined based on the position information; the entrance pictures in the entrance picture subset are all marked with corresponding position information; If the specific location can be determined, then there is the specific location in the forward direction of the vehicle; The method further includes the following steps: Form a new entrance picture subset based on the first environment picture marked with position information; If the specific location can be determined, then the new entrance picture subset corresponds to a new entrance of the specific location; If the specific location cannot be determined, then the new entrance picture subset corresponds to an entrance of a new specific location.

4. The method according to claim 1, before the response to the vehicle entering the specific place, the method further comprises the following steps: Obtain the satellite signal strength of the vehicle during driving; Judge whether the satellite signal strength is less than the first set threshold; If the satellite signal strength is less than the first set threshold, then the vehicle enters the specific location; if the satellite signal strength is not less than the first set threshold, then the vehicle does not enter the specific location.

5. The method according to claim 1, the obtaining of the exit environment picture set comprises the following steps: Obtain a second environment picture through the camera to form the exit environment picture set based on the second environment picture; Or in response to the vehicle restarting within the specific location after entering the specific location, obtain a third environment picture through the camera to form the exit environment picture set based on the third environment picture. The camera is communicatively connected to the terminal.

6. The method according to claim 1, the method further comprises the following steps: In response to the satellite signal strength not being less than the first set threshold and the matching degree between the exit environment picture set and the exit picture set not being greater than the second set threshold, obtain the first current position of the vehicle based on the satellite signal; Calculate the distance between the first current position and the positioning information; In response to the distance satisfying a preset condition, update a subset of the exit pictures of the specific location using the set of exit environment pictures; In response to the distance not satisfying the preset condition, update the set of exit pictures using the set of exit environment pictures; the set of exit environment pictures is a first new subset of exit pictures in the set of exit pictures; the first new subset of exit pictures corresponds to a new exit of the specific location, and the first current position is the positioning information corresponding to the first new subset of exit pictures.

7. The method according to claim 1, before the obtaining of the exit picture set of the specific place and the positioning information corresponding to the exit picture set, the method further comprises the following steps: Determine whether the set of exit pictures and the positioning information can be obtained; In response to the inability to obtain the set of exit pictures and the positioning information, the method further includes the following steps: Update the set of exit pictures using the set of exit environment pictures; the set of exit environment pictures is a second new subset of exit pictures in the set of exit pictures; the second new subset of exit pictures corresponds to a new exit of the specific location; In response to the satellite signal being not less than the first set threshold, obtain a second current position of the vehicle based on the satellite signal; the second current position is the positioning information corresponding to the second new subset of exit pictures.

8. A storage medium, on which a computer program is stored, characterized in that, When the computer program is executed by a processor, it implements the vehicle positioning method according to any one of claims 1 to 7.

9. A terminal, characterized in that, Comprising: A processor and a memory; The memory is used for storing a computer program; The processor is used for executing the computer program stored in the memory, so that the terminal executes the vehicle positioning method according to any one of claims 1 to 7.

10. A vehicle positioning system, characterized in that, Comprising: A camera, a server and the terminal according to claim 9; The camera is communicatively connected to the terminal and is used for collecting pictures of the exit environment and sending the pictures of the exit environment to the terminal; The server is communicatively connected to the terminal and is used for storing the set of exit pictures and the positioning information corresponding to the set of exit pictures.

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