A vehicle positioning and navigation system, method, and vehicle for a network-free parking lot

Abstract

This invention discloses a vehicle positioning and navigation system, method, and vehicle for parking lots without a network connection, relating to the field of traffic navigation technology. Firstly, the method includes determining whether a GPS signal is lost; when a GPS signal is lost, the relative position of the vehicle's stopping point to the GPS signal loss point is determined based on the azimuth angle of the GPS signal loss point, the average wheel speed of the two non-driving wheels during the time interval from the loss point to the vehicle's stopping point, and the steering wheel angle. Secondly, the system includes a judgment module and an auxiliary positioning module. Thirdly, the invention includes a vehicle for a vehicle positioning and navigation system in parking lots without a network connection. By determining the relative position of the vehicle's stopping point to the GPS signal loss point using the azimuth angle of the GPS signal loss point, the average wheel speed of the two non-driving wheels during the time interval from the loss point to the vehicle's stopping point, and the steering wheel angle, the location information of the parking spot can be accurately obtained in a parking lot environment without a network connection, providing a reference for drivers to find their vehicles in such environments.

Description

Technical Field

[0001] This invention relates to the field of traffic navigation technology, specifically to a vehicle positioning and navigation system, method, and vehicle for a network-free parking lot. Background Technology

[0002] In-vehicle navigation is a technology with great application prospects. Its widespread use is due to the application and development of the US Global Positioning System (GPS) technology. The GPS system calculates the positioning information of a target by transmitting wireless satellite signals from 24 satellites distributed in space, and has the advantages of being global, all-weather, highly accurate, and having good real-time performance.

[0003] However, due to the straight-line propagation characteristic of satellite signals, GPS signals are easily blocked by tall buildings, trees, or tunnels, resulting in the inability to receive GPS signals in these locations, creating GPS signal vacuum zones. Existing navigation systems generally require a continuous input of GPS signals to function properly. When the GPS signal is too weak or absent, the navigation software cannot determine the vehicle's accurate current location, thus failing to operate normally.

[0004] Although vehicles are currently equipped with devices such as gyroscopes, which can calculate routes when satellite signals are unavailable, the high cost of these devices makes it difficult for some lower-end vehicles without gyroscopes to plan routes in the absence of satellite signals. Summary of the Invention

[0005] In view of the deficiencies in the existing technology, the purpose of this invention is to provide a vehicle positioning and navigation system, method and vehicle for a network-free parking lot, so as to solve the problem that the existing technology cannot provide vehicle positioning and navigation services to the driver when the vehicle enters a network-free parking lot without hardware equipment.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] Firstly, a vehicle positioning and navigation method for offline parking lots is provided, comprising the following steps:

[0008] Determine if the GPS signal is lost;

[0009] When the GPS signal is lost, the relative position between the vehicle's stopping point and the GPS signal loss point is determined based on the azimuth of the location where the GPS signal was lost, the average wheel speed of the two non-driving wheels during the time from the location where the signal was lost to the time the vehicle stopped, and the steering wheel angle.

[0010] In some optional embodiments, determining the relative position between the vehicle's stopping point and the GPS signal loss point based on the azimuth angle of the GPS signal loss point and the average wheel speed of the two non-driving wheels during the time period from the loss point to the vehicle's stop, as well as the steering wheel angle, includes:

[0011] Based on the azimuth of the location where the GPS signal was lost, the average wheel speed of the two non-driving wheels during the time from the location of the loss to the time the vehicle stopped, and the steering wheel angle, determine the vehicle speed and direction at the center of gravity.

[0012] Based on the vehicle's speed and direction at its center of gravity, determine the relative distance and azimuth between the vehicle's stationary point and the point where the GPS signal is lost.

[0013] The relative position of the vehicle's stopping point and the GPS signal loss point is determined based on the relative distance and relative azimuth angle between the stopping point and the location where the GPS signal was lost.

[0014] In some optional embodiments, determining the relative position between the vehicle's stopping point and the point where the GPS signal was lost further includes:

[0015] The vehicle's displacement height difference is determined based on the azimuth of the location where the GPS signal was lost, the average wheel speed of the two non-driving wheels during the time from the location of the loss to the vehicle's stop, the steering wheel angle, and the road slope.

[0016] In some optional embodiments, determining the vehicle speed and direction at the vehicle's center of gravity includes:

[0017] According to V vehicle =V rear ×cos(γ l -γ r Determine the vehicle speed V at the vehicle's center of gravity. vehicle , where V rear γ is the average wheel speed of the two non-driving wheels. l γ is the steering angle of the left steering wheel. r For the right steering wheel angle, the aforementioned γ l and γ r Obtained by referring to a table based on the steering wheel angle;

[0018] according to Determine the direction of the vehicle's velocity γ at the vehicle's center of gravity. vehicle , where φ is the azimuth angle of the vehicle at the point where the signal is lost, and τ is the direction constant.

[0019] In some optional embodiments, determining the relative distance and relative azimuth between the vehicle's stopping point and the location where the GPS signal was lost includes:

[0020] according to

[0021] Determine the relative displacement D of the vehicle's center of mass after it stops. vehicle ;

[0022] According to Determine the relative azimuth angle θ after the vehicle stops. vehicle , where t is the time from when the vehicle loses its GPS signal to when the vehicle stops.

[0023] In some alternative embodiments, the above-described determination of the vehicle displacement height difference includes, based on Determine the vehicle's displacement height difference H vehicle , where α vehicle This refers to the road surface slope.

[0024] In some optional embodiments, determining the relative position between the vehicle's stopping point and the point where the GPS signal was lost includes:

[0025] Δx=D vehicle *cosθ vehicle Δy=D vehicle *sinθ vehicle Δz=H vehicle Δx is the displacement of the vehicle's stopping point relative to the location where the GPS signal was lost in the due east direction, Δy is the displacement of the vehicle's stopping point relative to the location where the GPS signal was lost in the due north direction, and Δz is the displacement of the vehicle's stopping point relative to the location where the GPS signal was lost in the vertical direction.

[0026] Secondly, a vehicle positioning and navigation system for offline parking lots is also provided, including:

[0027] The judgment module is connected to the GPS positioning module signal and is used to determine whether the GPS positioning module signal is lost.

[0028] An auxiliary positioning module, which is connected to the aforementioned judgment module and the aforementioned GPS positioning module, is used to obtain the azimuth angle of the GPS signal loss point and the average wheel speed of the two non-driving wheels and the steering wheel angle during the time period from the loss point to the vehicle stopping when the GPS positioning module loses its signal, so as to determine the relative position between the vehicle stopping point and the GPS signal loss point.

[0029] In some optional embodiments, the above-mentioned auxiliary positioning module further includes determining the vehicle's displacement height difference based on the azimuth angle at the location where the GPS signal is lost, the average wheel speed of the two non-driving wheels during the time period from the location of loss to the vehicle's stop, the steering wheel angle, and the road surface slope.

[0030] Thirdly, a vehicle is also provided, including the aforementioned vehicle positioning and navigation system for offline parking lots.

[0031] Compared with existing technologies, the advantages of this invention are: based on the azimuth angle of the location where the GPS signal was lost, the average wheel speed of the two non-driving wheels during the time period from the location of the loss to the vehicle's stop, and the steering wheel angle, the relative position between the vehicle's stop and the location where the GPS signal was lost is determined. Therefore, in parking environments without network access, where it is impossible to obtain vehicle location information in a timely manner through a GPS positioning system, and where the parking lot is not equipped with smart parking locks or servers and other auxiliary positioning devices, the location information of the parking spot can be accurately obtained, providing a reference for drivers to find their vehicles in parking lots without network access. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart of a vehicle positioning and navigation method for a network-free parking lot according to the present invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0036] On the one hand, such as Figure 1 As shown, this application provides a vehicle positioning and navigation method for a network-free parking lot, including the following steps:

[0037] S1: Determine if the GPS signal is lost.

[0038] It is understandable that the GPS global positioning system module installed in the vehicle provides real-time location information, which is then used as navigation input. When the vehicle has a good GPS signal, the navigation system can determine the vehicle's location by receiving GPS signals; when the vehicle enters a parking lot without a network signal, the GPS signal is lost, and the offline vehicle positioning and navigation system automatically activates.

[0039] S2: When the GPS signal is lost, the relative position between the vehicle's stopping point and the GPS signal loss point is determined based on the azimuth of the GPS signal loss point, the average wheel speed of the two non-driving wheels during the time from the loss point to the vehicle's stop, and the steering wheel angle.

[0040] It is understandable that when a vehicle enters the parking lot entrance, the GPS global positioning system module records the entrance location and defines the parking lot entrance as the origin O(x0, y0, z0) of the parking lot's coordinate system, where the x-direction is due east, the y-direction is due north, and the z-direction is perpendicular. After establishing the parking lot coordinate system, the vehicle records its GPS positioning information in real time after entering the parking lot until the vehicle's GPS signal is lost.

[0041] In some optional embodiments, the auxiliary positioning module includes an information acquisition submodule and an information processing submodule. When the vehicle loses its GPS signal, the vehicle terminal uses the information acquisition submodule to collect real-time information about the vehicle and its GPS coordinates at the point where the signal is lost. Then, it sends the real-time vehicle speed information, GPS coordinates, and the coordinates of the parking lot entrance to the information processing submodule. The information processing submodule determines the relative position of the vehicle at its stopping position and, combined with the coordinate system origin O and the GPS position information at the point where the signal is lost, determines the absolute position of the vehicle at its stopping position. This absolute position information is then sent to the mobile terminal.

[0042] Specifically, step S2 above includes:

[0043] S21: Based on the azimuth of the location where the GPS signal is lost, the average wheel speed of the two non-driving wheels during the time from the location of the loss to the vehicle stopping, and the steering wheel angle, determine the vehicle speed and direction at the center of gravity.

[0044] For example, when a GPS signal is lost, the location coordinates of the point where the signal is lost are obtained. These coordinates are then compared with the coordinates of the origin O of the coordinate system to obtain the location coordinates (x1, y1, z1) of the point where the signal is lost within the parking lot coordinate system. The direction angle at the point where the signal is lost is also obtained, which can be understood as the angle between the vehicle's direction of travel and true north. Additionally, the average wheel speed of the two non-driving wheels and the steering wheel angle are also obtained during the time from the point of loss of signal until the vehicle comes to a stop.

[0045] Based on the steering wheel angle, obtain the left and right steering wheel angles by looking up a table, and then based on V... vehicle =V rear ×cos(γ l -γ r Determine the vehicle speed at its center of gravity, where V rear γ is the average wheel speed of the two non-driving wheels. lγ is the steering angle of the left steering wheel. r The steering angle of the right steering wheel;

[0046] according to Determine the vehicle speed direction at the vehicle's center of gravity, where φ is the vehicle's azimuth angle at the point of signal loss, and τ is the direction constant.

[0047] It should be noted that when the GPS signal is lost, when the vehicle is traveling in the southeast / northwest direction, a left turn is τ=1 and a right turn is τ=-1; when the vehicle is traveling in the northeast / southwest direction, a left turn is τ=-1 and a right turn is τ=1.

[0048] S22: Determine the relative distance and relative azimuth between the vehicle's stationary point and the point where the GPS signal is lost, based on the vehicle's speed and speed direction at the vehicle's center of gravity.

[0049] Specifically, according to Determine the relative displacement D of the vehicle after it stops. vehicle ;

[0050] according to Determine the relative azimuth angle θ after the vehicle stops. vehicle , where t is the time from when the vehicle loses its GPS signal to when the vehicle stops.

[0051] It is understandable that if a vehicle is driving in a single-level parking lot, the vertical displacement difference is zero or close to zero. Therefore, by simply using the relative displacement and relative azimuth angle after the vehicle stops, combined with the GPS information of the coordinate origin O and the point where the signal is lost, the information of the relative position change at the vehicle's stop can be converted into absolute geographical location information, and this absolute location information can be transmitted to the mobile terminal through the vehicle terminal.

[0052] Preferably, the absolute location information of the vehicle's stopping point, the relative distance to the parking lot entrance, the relative orientation, and the relative height information can be sent to the mobile terminal via Bluetooth communication.

[0053] If the vehicle is driving in a multi-story parking garage, its relative height may change after it stops. In some optional embodiments, step S22 may further include:

[0054] The vehicle's displacement height difference is determined based on the azimuth of the location where the GPS signal was lost, the average wheel speed of the two non-driving wheels during the time from the location of the loss to the vehicle's stop, the steering wheel angle, and the road slope.

[0055] according to Determine the vehicle's displacement height difference H vehicle , where α vehicle This refers to the road surface slope.

[0056] S23: Determine the relative position of the vehicle's stopping point and the GPS signal loss point based on the relative distance, relative azimuth angle, and displacement height difference between the vehicle's stopping point and the GPS signal loss point.

[0057] Specifically, the relative position between the vehicle's stopping point and the point where the GPS signal was lost is determined by Δx = D. vehicle *cosθ vehicle Δy=D vehicle *sinθ vehicle Δz=H vehicle It is determined that Δx is the displacement of the vehicle's stopping point relative to the location where the GPS signal was lost in the due east direction, Δy is the displacement of the vehicle's stopping point relative to the location where the GPS signal was lost in the due north direction, and Δz is the displacement of the vehicle's stopping point relative to the location where the GPS signal was lost in the vertical direction.

[0058] It should be noted that the place where the vehicle stops is the parking location of the vehicle.

[0059] It is understandable that after determining Δx, Δy, and Δz, and combining the GPS location information of the origin O and the point where the signal is lost, the relative position coordinates of the parking location can be converted into absolute geographical location information. The absolute position information of the parking location, the relative distance to the parking lot entrance, the relative orientation, and the relative height information can then be sent to the mobile terminal via Bluetooth communication.

[0060] Preferably, the absolute location information, relative distance, relative orientation, and relative height information of the parking location can also be uploaded to the map. The location information of the parking lot entrance can be set as the starting position, the driver's location can be set as the intermediate position, and the final parking location on the map can be determined by referring to the map scale and the relative position of the final parking location and the parking lot entrance. In a multi-story parking environment, the floor of the parking location relative to the starting point can be determined by the height information. The above information can provide convenience for drivers to find their cars.

[0061] Secondly, this application also provides a vehicle positioning and navigation device for parking lots without network access, including a judgment module and an auxiliary positioning module. The judgment module is used to connect the GPS positioning module signal and determine whether the signal of the GPS positioning module is lost. The auxiliary positioning module determines the final parking position of the vehicle by acquiring the vehicle's location information and vehicle information after the GPS positioning module signal is lost, so as to help drivers find the parking position of the vehicle in parking lots without GPS signals.

[0062] It is understood that the auxiliary positioning module is connected to the aforementioned judgment module and the aforementioned GPS positioning module. When the signal of the aforementioned GPS positioning module is lost, it is used to obtain the azimuth angle of the GPS signal loss point and the average wheel speed of the two non-driving wheels and the steering wheel angle during the time period from the loss point to the vehicle stopping, so as to determine the relative position between the vehicle stopping point and the GPS signal loss point.

[0063] The vehicle's location is located in real time via a GPS global positioning system module installed on the vehicle, and this location information is used as navigation input. When the vehicle has a good GPS signal, the navigation system can determine the vehicle's location by receiving GPS signals; when the vehicle enters a parking lot without a network signal, the GPS signal is lost, and the offline vehicle positioning and navigation system automatically activates.

[0064] In some optional embodiments, the auxiliary positioning module includes an information acquisition submodule and an information processing submodule. The information acquisition submodule is signal-connected to the GPS positioning module and the auxiliary positioning module, and is used to acquire the average wheel speed of the two non-driving wheels, the steering wheel angle, and the azimuth angle of the vehicle at the point where the signal is lost. The information processing submodule is signal-connected to the information acquisition submodule, and is used to determine the relative displacement of the vehicle's center of mass and the relative displacement angle after the vehicle stops, based on the information acquired by the information acquisition submodule and the time from the loss of the signal to the vehicle stopping.

[0065] For example, when a vehicle enters the parking lot entrance, its GPS positioning module records the entrance location and defines the parking lot entrance as the origin O(x0, y0, z0) of the parking lot's coordinate system, where x is due east, y is due north, and z is perpendicular. After establishing the parking lot coordinate system, the vehicle records its GPS positioning information in real time after entering the parking lot until its GPS signal is lost. When the GPS signal is lost, the onboard terminal uses an information acquisition submodule to collect the vehicle's real-time information and its GPS coordinates at the point of signal loss. It then sends the real-time vehicle speed, GPS coordinates, and parking lot entrance coordinates to an information processing submodule. This submodule determines the vehicle's relative position at its stopping point and, combined with the coordinate system origin O and the GPS position information at the point of signal loss, determines the vehicle's absolute position at the stopping point. This absolute position information is then sent to the mobile terminal.

[0066] Specifically, based on the azimuth of the location where the GPS signal is lost, the average wheel speed of the two non-driving wheels during the time from the location of the loss to the vehicle's stop, and the steering wheel angle, the vehicle speed and direction at the center of gravity are determined.

[0067] For example, when a GPS signal is lost, the location coordinates of the point where the signal is lost are obtained. These coordinates are then compared with the coordinates of the origin O of the coordinate system to obtain the location coordinates (x1, y1, z1) of the point where the signal is lost within the parking lot coordinate system. The direction angle at the point where the signal is lost is also obtained, which can be understood as the angle between the vehicle's direction of travel and true north. Additionally, the average wheel speed of the two non-driving wheels and the steering wheel angle are calculated during the time from the point of loss to when the vehicle stops.

[0068] Then, based on the steering wheel angle, the left and right steering wheel angles are obtained by looking up a table, and then based on V... vehicle =V rear ×cos(γ l -γ r Determine the vehicle speed at its center of gravity, where V rear γ is the average wheel speed of the two non-driving wheels. l γ is the steering angle of the left steering wheel. r The steering angle of the right steering wheel; according to Determine the vehicle speed direction at the vehicle's center of gravity, where φ is the vehicle's azimuth angle at the point of signal loss, and τ is the direction constant.

[0069] It should be noted that when the GPS signal is lost, when the vehicle is traveling in the southeast / northwest direction, a left turn is τ=1 and a right turn is τ=-1; when the vehicle is traveling in the northeast / southwest direction, a left turn is τ=-1 and a right turn is τ=1.

[0070] Then, based on the vehicle's speed and direction at its center of gravity, the relative distance and azimuth between the vehicle's stationary point and the point where the GPS signal was lost are determined. Determine the relative displacement D of the vehicle after it stops. vehicle ;according to Determine the relative azimuth angle θ after the vehicle stops. vehicle , where t is the time from when the vehicle loses its GPS signal to when the vehicle stops.

[0071] In some optional embodiments, the above-mentioned auxiliary positioning module further includes determining the vehicle's displacement height difference based on the azimuth angle at the location where the GPS signal is lost, the average wheel speed of the two non-driving wheels during the time period from the location of loss to the vehicle's stop, the steering wheel angle, and the road surface slope.

[0072] It is understandable that if a vehicle is driving in a single-level parking lot, the relative displacement and relative azimuth angle after the vehicle stops, combined with the GPS information of the coordinate origin O and the point where the signal is lost, can be used to convert the information of the relative position change at the vehicle's stopping point into absolute geographical location information. This absolute location information can then be transmitted to the mobile terminal through the vehicle terminal.

[0073] If a vehicle is driving in a multi-story parking garage, its relative height may change after it stops. In this case, the vehicle's displacement height difference can be determined based on the azimuth of the location where the GPS signal is lost, the average wheel speed of the two non-driving wheels during the time from the location where the signal is lost to the time the vehicle stops, the steering wheel angle, and the road slope.

[0074] In some alternative embodiments, according to Determine the vehicle's displacement height difference H vehicle , where α vehicle This refers to the road surface slope.

[0075] Furthermore, the auxiliary positioning module can also determine the relative position of the vehicle's stopping point and the GPS signal loss point based on the relative distance, relative azimuth angle, and displacement height difference between the vehicle's stopping point and the GPS signal loss point.

[0076] Specifically, the relative position between the vehicle's stopping point and the point where the GPS signal was lost is determined by Δx = D. vehicle *cosθ vehicle Δy=D vehicle *sinθ vehicle Δz=H vehicle It is determined that Δx is the displacement of the vehicle's stopping point relative to the location where the GPS signal was lost in the due east direction, Δy is the displacement of the vehicle's stopping point relative to the location where the GPS signal was lost in the due north direction, and Δz is the displacement of the vehicle's stopping point relative to the location where the GPS signal was lost in the vertical direction.

[0077] It should be noted that the place where the vehicle stops is the parking location of the vehicle.

[0078] It is understandable that after determining Δx, Δy, and Δz, and combining the GPS location information of the origin O and the point where the signal is lost, the relative position coordinates of the parking location can be converted into absolute geographical location information. The absolute position information of the parking location, the relative distance to the parking lot entrance, the relative orientation, and the relative height information can then be sent to the mobile terminal via Bluetooth communication.

[0079] Preferably, the absolute location information, relative distance, relative orientation, and relative height information of the parking location can also be uploaded to the map. The location information of the parking lot entrance can be set as the starting position, the driver's location can be set as the intermediate position, and the final parking location on the map can be determined by referring to the map scale and the relative position of the final parking location and the parking lot entrance. In a multi-story parking environment, the floor of the parking location relative to the starting point can be determined by the height information. The above information can provide convenience for drivers to find their cars.

[0080] Thirdly, this application also provides a vehicle, including the aforementioned vehicle positioning and navigation system for offline parking lots.

[0081] It is understandable that installing the vehicle positioning and navigation system in the aforementioned offline parking lot and connecting it to a mobile terminal via Bluetooth or other means can not only eliminate the need for parking lots to be equipped with smart parking locks and servers, but also provide a solution to improve the positioning accuracy of the in-vehicle navigation system in GPS blind spots and areas with weak GPS signals.

[0082] The aforementioned vehicle positioning and navigation system in a network-less parking lot obtains the azimuth angle at the location where the GPS signal was lost, the average wheel speed of the two non-driving wheels during the time from the point of loss to the vehicle's stop, the steering wheel angle, and other important information from the vehicle's bus network. It then uses the GPS module to obtain the vehicle's current geographical location and uses this information to determine the precise geographical location of the vehicle's parking spot. Furthermore, the system can transmit the vehicle's current geographical location and other important information obtained from the vehicle's bus network back to a remote backend server via a GPRS module. The backend server then determines whether to issue relevant reminders or warnings to the in-vehicle navigation system or the driver based on the information transmitted back from the vehicle.

[0083] Vehicles using the network-free parking lot vehicle positioning and navigation system of this application do not require additional costs, and can accurately locate vehicles in complex network-free environments and provide drivers with vehicle location route references, thereby improving the driver's driving experience.

[0084] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0085] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0086] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A vehicle positioning and navigation method for a network-free parking lot, characterized in that, Includes the following steps: Determine if the GPS signal is lost; When the GPS signal is lost, the relative position between the vehicle's stopping point and the GPS signal loss point is determined based on the azimuth of the GPS signal loss point, the average wheel speed of the two non-driving wheels during the time from the point of loss to the vehicle's stop, and the steering wheel angle. The method of determining the relative position between the vehicle's stopping point and the GPS signal loss point based on the azimuth angle of the GPS signal loss location and the average wheel speed of the two non-driving wheels during the time period from the loss point to the vehicle's stop, as well as the steering wheel angle, includes: Based on the azimuth of the location where the GPS signal was lost, the average wheel speed of the two non-driving wheels during the time from the location of the loss to the time the vehicle stopped, and the steering wheel angle, determine the vehicle speed and direction at the center of gravity. Based on the vehicle's speed and direction at its center of gravity, determine the relative distance and azimuth between the vehicle's stationary point and the point where the GPS signal is lost. The relative position of the vehicle's stopping point and the GPS signal loss point is determined based on the relative distance and relative azimuth angle between the vehicle's stopping point and the GPS signal loss point. Determining the relative position between the vehicle's stopping point and the point where the GPS signal was lost also includes: The vehicle's displacement height difference is determined based on the azimuth of the location where the GPS signal was lost, the average wheel speed of the two non-driving wheels during the time from the location of the loss to the vehicle's stop, the steering wheel angle, and the road slope. The determination of the vehicle speed and direction at the vehicle's center of gravity includes: according to Determine the vehicle speed at its center of gravity, where, This represents the average wheel speed of the two non-driving wheels. The left steering wheel angle, The right steering wheel angle, the and Obtained by referring to a table based on the steering wheel angle; according to Determine the vehicle speed direction at the vehicle's center of gravity, where φ is the vehicle's azimuth angle at the point of signal loss, and τ is a direction constant; Determining the relative distance and relative azimuth between the vehicle's stopping point and the point where the GPS signal was lost includes: according to Determine the relative displacement of the vehicle's center of mass after it stops. ; according to Determine the relative azimuth angle after the vehicle stops ,in This refers to the time from when the vehicle loses its GPS signal to when it stops.

2. The vehicle positioning and navigation method for a network-free parking lot as described in claim 1, characterized in that, The determination of the vehicle's displacement height difference includes, based on Determine the vehicle's displacement height difference ,in This refers to the road surface slope.

3. The vehicle positioning and navigation method for a network-free parking lot as described in claim 2, characterized in that, Determining the relative position between the vehicle's stopping point and the point where the GPS signal was lost includes: , , ,in This represents the displacement of the vehicle's stopping point relative to the location where the GPS signal was lost, in the due east direction. This represents the displacement of the vehicle's stopping point relative to the point where the GPS signal was lost, in the due north direction. This refers to the vertical displacement of the vehicle's stationary position relative to the point where the GPS signal was lost.

4. A vehicle positioning and navigation system for a network-free parking lot, characterized in that, include: The judgment module is connected to the GPS positioning module signal and is used to determine whether the GPS positioning module signal is lost. An auxiliary positioning module, which is signal-connected to the judgment module and the GPS positioning module, is used to obtain the azimuth angle of the GPS signal loss point and the average wheel speed of the two non-driving wheels and the steering wheel angle during the time period from the loss point to the vehicle stopping when the GPS positioning module loses its signal, so as to determine the relative position between the vehicle stopping point and the GPS signal loss point. The acquisition of the azimuth angle at the location where the GPS signal was lost, the average wheel speed of the two non-driving wheels during the time period from the location of the loss to the time the vehicle stopped, and the steering wheel angle, to determine the relative position between the vehicle's stopping point and the location where the GPS signal was lost, includes: Based on the azimuth of the location where the GPS signal was lost, the average wheel speed of the two non-driving wheels during the time from the location of the loss to the time the vehicle stopped, and the steering wheel angle, determine the vehicle speed and direction at the center of gravity. Based on the vehicle's speed and direction at its center of gravity, determine the relative distance and azimuth between the vehicle's stationary point and the point where the GPS signal is lost. The relative position of the vehicle's stopping point and the GPS signal loss point is determined based on the relative distance and relative azimuth angle between the vehicle's stopping point and the GPS signal loss point. Determining the relative position between the vehicle's stopping point and the point where the GPS signal was lost also includes: The vehicle's displacement height difference is determined based on the azimuth of the location where the GPS signal was lost, the average wheel speed of the two non-driving wheels during the time from the location of the loss to the vehicle's stop, the steering wheel angle, and the road slope. The determination of the vehicle speed and direction at the vehicle's center of gravity includes: according to Determine the vehicle speed at its center of gravity, where, This represents the average wheel speed of the two non-driving wheels. The left steering wheel angle, The right steering wheel angle, the and Obtained by referring to a table based on the steering wheel angle; according to Determine the vehicle speed direction at the vehicle's center of gravity, where φ is the vehicle's azimuth angle at the point of signal loss, and τ is a direction constant; Determining the relative distance and relative azimuth between the vehicle's stopping point and the point where the GPS signal was lost includes: according to Determine the relative displacement of the vehicle's center of mass after it stops. ; according to Determine the relative azimuth angle after the vehicle stops ,in This refers to the time from when the vehicle loses its GPS signal to when it stops.

5. A vehicle, characterized in that, This includes the vehicle positioning and navigation system for a network-free parking lot as described in claim 4.

Images