Vehicle automatic positioning method and system based on magnetic field auxiliary information

Abstract

The application discloses a vehicle automatic positioning method and system based on magnetic field auxiliary information, which receives a parking instruction in a smart terminal, starts a geomagnetic information collection device according to the parking instruction, acquires a garage structure model of a garage where a user parks, splits the garage structure model according to building types to obtain a plurality of facility structure models, wherein each facility structure model corresponds to each actual facility of the garage, collects multi-dimensional magnetic field values of each actual facility and a user vehicle by using the geomagnetic information collection device to obtain corresponding facility magnetic field values and vehicle magnetic field values, acquires geographical positions of each actual facility and the user vehicle according to the facility structure model when the multi-dimensional magnetic field values of each facility structure model and the user vehicle are successfully collected to obtain facility position values and vehicle position values, uploads the facility magnetic field values, the vehicle magnetic field values, the facility position values and the vehicle position values to the smart terminal, and completes vehicle parking. In this way, the accuracy of vehicle positioning can be improved.

Description

Technical Field

[0001] This application relates to the field of vehicle positioning technology, and more specifically, to a method and system for automatic vehicle positioning based on magnetic field-assisted information. Background Technology

[0002] Vehicle location tracking can efficiently pinpoint a vehicle's location, reducing the time users spend searching for their vehicles. Currently, there are two main methods for vehicle location tracking: 1. Locating the vehicle based on route guidance signs or electronic displays. 2. Determining the vehicle's location using auxiliary devices such as Bluetooth or Wi-Fi hotspots.

[0003] While both of the above methods can achieve vehicle positioning, in complex large buildings such as commercial complexes, exhibition areas, and convention centers, where there are many signs or electronic displays, users are extremely likely to get lost. Furthermore, Bluetooth signals or Wi-Fi hotspots suffer from signal attenuation, resulting in lower positioning accuracy and limiting their application scenarios. Summary of the Invention

[0004] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a method and system for automatic vehicle positioning based on magnetic field-assisted information, the main objective of which is to improve the accuracy of vehicle positioning.

[0005] According to one aspect of this application, a method for automatic vehicle positioning based on magnetic field-assisted information is provided, comprising:

[0006] Receive parking instructions input by the user in the smart terminal, and activate the geomagnetic information acquisition device according to the parking instructions;

[0007] Obtain the garage structure model of the garage where the user is parked, and split the garage structure model according to the building type to obtain multiple facility structure models, where each facility structure model corresponds to each actual facility in the garage;

[0008] The geomagnetic information acquisition equipment is used to collect multi-dimensional magnetic field values ​​for each actual facility and user vehicle to obtain the corresponding facility magnetic field value and vehicle magnetic field value.

[0009] When the multidimensional magnetic field values ​​of each facility structure model and user vehicle are successfully collected, the geographical location of each actual facility and user vehicle is obtained based on the facility structure model, and the facility location value and vehicle location value are obtained.

[0010] The system uploads the magnetic field values ​​of the facility, the magnetic field values ​​of the vehicle, the location values ​​of the facility, and the location values ​​of the vehicle to the smart terminal to complete the vehicle parking process.

[0011] In the above-mentioned automatic vehicle positioning method based on magnetic field-assisted information, the geomagnetic information acquisition device consists of multiple magnetic field measurement points and magnetic field receivers. The magnetic field receivers are used to collect the magnetic field information transmitted back from each magnetic field measurement point. Each magnetic field measurement point is pre-distributed in multiple locations in the garage, and each magnetic field measurement point includes multiple magnetic dipoles.

[0012] In the above-mentioned automatic vehicle positioning method based on magnetic field-assisted information, the actual facilities include garage roads, cement pillars, fire hydrants, signs, lights, and pipelines.

[0013] In the above-mentioned automatic vehicle positioning method based on magnetic field-assisted information, the method for acquiring the facility's magnetic field value includes:

[0014] Identify the magnetic field measurement point corresponding to the actual facility and obtain multiple magnetic dipoles at that magnetic field measurement point;

[0015] The magnetic field strength value generated by each magnetic dipole at the magnetic field measurement point is obtained sequentially, wherein the magnetic field strength value is composed of the magnetic field strength values ​​of the X-axis, Y-axis and Z-axis;

[0016] The actual magnetic field value of the facility is calculated based on the preset formula for calculating the facility's magnetic field value and the strength value of each magnetic field.

[0017] In the above-mentioned automatic vehicle positioning method based on magnetic field-assisted information, the step of calculating the actual facility's magnetic field value according to a preset facility magnetic field value calculation formula and each magnetic field strength value includes:

[0018] The magnetic field value of the facility is calculated using the following formula:

[0019]

[0020] Where j represents the j-th actual facility where the garage is located, H xj H represents the magnetic field strength value of the j-th actual facility on the X-axis. yj H represents the magnetic field value of the facility on the Y-axis. zj The magnetic field value of the facility is represented by the value on the Z-axis, N represents the total number of magnetic dipoles at the magnetic field measurement point, i represents the i-th magnetic dipole at the j-th actual facility magnetic field measurement point, and M represents the magnetic field value of the facility on the Z-axis. xi M represents the magnetic field strength of the i-th magnetic dipole along the X-axis. yi This represents the magnetic field strength of the i-th magnetic dipole along the Y-axis, (a xij a yij a zij b xij b yij b zij c xij cyij c zij M represents the magnetic field calculation coefficient in the formula for calculating the magnetic field value of the j-th actual facility. zi This represents the magnetic field strength of the i-th magnetic dipole along the Z-axis.

[0021] In the above-mentioned automatic vehicle positioning method based on magnetic field-assisted information, the calculation of the magnetic field calculation coefficient includes:

[0022]

[0023]

[0024] Among them, a xij This represents the calculated magnetic field coefficients of the j-th actual facility and the i-th magnetic dipole along the X-axis. Indicates with a xij The corresponding weighting factor, p xj p represents the coordinate position of the j-th actual facility on the X-axis. xi Let a represent the coordinate position value of the i-th magnetic dipole on the X-axis. yij p represents the calculated magnetic field coefficients of the j-th actual facility and the i-th magnetic dipole along the Y-axis. yj p represents the Y-coordinate position of the j-th actual facility. yi This represents the Y-coordinate of the i-th magnetic dipole.

[0025] In the above-mentioned automatic vehicle positioning method based on magnetic field-assisted information, the step of obtaining the geographical location of each actual facility and user vehicle according to the facility structure model to obtain facility location values ​​and vehicle location values ​​includes:

[0026] Activate the pre-installed positioning system in the garage and import multiple facility structure models into the positioning system;

[0027] After the positioning system successfully receives multiple facility structure models, it sequentially obtains the facility information for each facility structure model, including the facility name and the location of the facility in the garage.

[0028] Based on the facility information, the actual facility is relocated using a positioning system to obtain the facility location value;

[0029] The smart terminal is used to connect to the vehicle's infotainment system. Once the connection to the infotainment system is successful, the infotainment system is reconnected to the positioning system.

[0030] Once the vehicle infotainment system and the positioning system are successfully reconnected, the positioning system is used to locate the user's vehicle and obtain the vehicle's location value.

[0031] In the above-mentioned automatic vehicle positioning method based on magnetic field-assisted information, the actual facility includes at least one magnetic field measurement point, and each magnetic field measurement point includes at least 10 magnetic dipoles.

[0032] In the above-mentioned automatic vehicle positioning method based on magnetic field-assisted information, after uploading the facility magnetic field value, vehicle magnetic field value, facility location value, and vehicle location value to the smart terminal to complete vehicle parking, the method further includes:

[0033] Receive a startup command from the user to open the smart terminal, and start the smart terminal according to the startup command;

[0034] The system receives a vehicle search command input by the user in a smart terminal, and obtains the user's current location and the vehicle's parking location based on the vehicle search command. The vehicle's parking location is determined based on the facility's magnetic field value, the vehicle's magnetic field value, the facility's location value, and the vehicle's location value.

[0035] The user's driving route is generated based on the current location and the vehicle's parking location, and then fed back to the user.

[0036] According to another aspect of this application, a vehicle automatic positioning system based on magnetic field-assisted information is provided, comprising:

[0037] The geomagnetic information acquisition device start-up module is used to receive parking instructions input by the user in the smart terminal and start the geomagnetic information acquisition device according to the parking instructions;

[0038] The building type splitting module is used to obtain the garage structure model of the garage where the user is parking, and split the garage structure model according to the building type to obtain multiple facility structure models, where each facility structure model corresponds to each actual facility in the garage.

[0039] The magnetic field value calculation module is used to collect multi-dimensional magnetic field values ​​of each actual facility and user vehicle using the geomagnetic information acquisition equipment, and obtain the corresponding facility magnetic field value and vehicle magnetic field value.

[0040] The location value upload module is used to obtain the geographical location of each actual facility and user vehicle based on the facility structure model when the multi-dimensional magnetic field value of each facility structure model and user vehicle is successfully collected, obtain the facility location value and vehicle location value, and upload the facility magnetic field value, vehicle magnetic field value, facility location value and vehicle location value to the smart terminal to complete vehicle parking.

[0041] Compared to the problems described in the background art, the embodiments of the present invention first receive the parking command input by the user in the smart terminal, and then activate the geomagnetic information acquisition device according to the parking command. It is understood that the geomagnetic information acquisition device is the core device of the embodiments of the present invention, and its main purpose is to obtain the electromagnetic values ​​of the garage and the vehicle, and to use the electromagnetic values ​​to assist in correcting the vehicle positioning information, thereby improving the positioning accuracy. Furthermore, the garage structure model of the user's parking garage is obtained, and the garage structure model is split according to building type to obtain multiple facility structure models. Each facility structure model corresponds to each actual facility in the garage. It should be explained that traditional garage car positioning methods rarely consider the magnetic field relationship between the vehicle and the facilities in the garage. Generally, they consider the relationship between the vehicle and the magnetic field receiver in the garage to determine the vehicle's position in the garage. In order to improve the accuracy of magnetic field vehicle positioning, this embodiment of the invention first obtains the garage structure model of the user's parking garage, and then splits the garage structure model according to building type to obtain multiple facility structure models. Since the garage structure model is a pre-constructed simulation model, the simulation model can be used to divide all buildings in the garage that need to be calculated for electromagnetic values. Each building corresponds to a magnetic field value, thereby extending the traditional method of only calculating the magnetic field relationship between the vehicle and the magnetic field receiver in the garage to the magnetic field relationship between the vehicle and each building in the garage, thus improving the accuracy of vehicle positioning. Furthermore, the geomagnetic information acquisition equipment is used to collect multi-dimensional magnetic field values ​​for each actual facility and user vehicle, obtaining corresponding facility magnetic field values ​​and vehicle magnetic field values. Additionally, when the multi-dimensional magnetic field values ​​for each facility structure model and user vehicle are successfully acquired, the geographical location of each actual facility and user vehicle is obtained based on the facility structure model, yielding facility location values ​​and vehicle location values. It is evident that facility magnetic field values ​​and vehicle magnetic field values ​​can serve as auxiliary information for vehicle positioning, correcting vehicle positioning information. Therefore, the facility magnetic field values, vehicle magnetic field values, facility location values, and vehicle location values ​​are uploaded to the smart terminal to complete vehicle parking. Thus, the main purpose of the method, device, electronic device, and computer-readable storage medium for determining parking locations based on the Earth's magnetic field proposed in this invention is to improve the accuracy of vehicle positioning. Attached Figure Description

[0042] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0043] Figure 1 This is a flowchart of a vehicle automatic positioning method based on magnetic field-assisted information according to an embodiment of this application.

[0044] Figure 2 This is a flowchart of one step in a vehicle automatic positioning method based on magnetic field-assisted information according to an embodiment of this application.

[0045] Figure 3 This is a flowchart of another step in the vehicle automatic positioning method based on magnetic field-assisted information according to an embodiment of this application.

[0046] Figure 4 This is a block diagram of a vehicle automatic positioning system based on magnetic field-assisted information according to an embodiment of this application. Detailed Implementation

[0047] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0048] This application provides a method for automatic vehicle positioning based on magnetic field-assisted information. The executing entity of this method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the method for automatic vehicle positioning based on magnetic field-assisted information can be executed by software or hardware installed on a terminal device or a server device. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster.

[0049] Example:

[0050] Reference Figure 1 The diagram shown is a flowchart illustrating a vehicle automatic positioning method based on magnetic field-assisted information according to an embodiment of the present invention. In this embodiment, the vehicle automatic positioning method based on magnetic field-assisted information includes:

[0051] S1. Receive the parking command input by the user in the smart terminal, and start the geomagnetic information acquisition device according to the parking command.

[0052] It should be explained that parking instructions are generally issued by the driver or passenger who needs to park. The main purpose of parking instructions is to obtain detailed information about the vehicle and the parking garage while parking, thus facilitating the driver or passenger to find the vehicle later. For example, Xiao Zhang drives his vehicle to the underground parking garage of a shopping mall. After parking, he enters the parking instruction into an application on his mobile phone or tablet.

[0053] Furthermore, the geomagnetic information acquisition equipment consists of multiple magnetic field measurement points and magnetic field receivers. The magnetic field receivers are used to collect the magnetic field information transmitted back from each magnetic field measurement point. Each magnetic field measurement point is pre-distributed in multiple locations in the garage, and each magnetic field measurement point includes a magnetic dipole.

[0054] It should be explained that a magnetic dipole is a physical model established by analogy with an electric dipole. It is a system consisting of two point magnetic charges with equal value but opposite signs. The magnetic field value near a magnetic dipole can be effectively measured through a magnetic dipole.

[0055] For example, 100 magnetic field measurement points were pre-distributed in the basement of the shopping mall where Xiao Zhang was located. These 100 magnetic field measurement points can accurately determine the magnetic field of each cement pillar, fire hydrant, sign, and other facilities in the basement.

[0056] S2. Obtain the garage structure model of the garage where the user is parked, and split the garage structure model according to the building type to obtain multiple facility structure models, where each facility structure model corresponds to each actual facility in the garage.

[0057] It should be explained that before each garage is put into use, a simulation must be performed using simulation software to obtain a garage structural model. Each garage structural model includes structural models of actual facilities such as concrete columns, fire hydrants, and signs; this is called a facility structural model.

[0058] In addition, the actual facilities mentioned include garage roads, cement pillars, fire hydrants, signs, lights, pipes and other commonly used facilities in garages.

[0059] S3. Use the geomagnetic information acquisition equipment to collect multi-dimensional magnetic field values ​​for each actual facility and user vehicle to obtain the corresponding facility magnetic field value and vehicle magnetic field value.

[0060] For details, please refer to Figure 2 As shown, the process of using the geomagnetic information acquisition device to collect multi-dimensional magnetic field values ​​for each actual facility and user vehicle to obtain corresponding facility magnetic field values ​​and vehicle magnetic field values ​​includes: collecting the facility magnetic field values ​​of actual facilities and collecting the vehicle magnetic field values ​​of user vehicles, wherein collecting the facility magnetic field values ​​of actual facilities includes:

[0061] S31. Determine the magnetic field measurement point corresponding to the actual facility, and obtain multiple magnetic dipoles at the magnetic field measurement point;

[0062] S32. Sequentially obtain the magnetic field strength value generated by each magnetic dipole at the magnetic field measurement point, wherein the magnetic field strength value is composed of the magnetic field strength values ​​of the X-axis, Y-axis and Z-axis;

[0063] S33. Calculate the facility's magnetic field value according to the preset formula for calculating the facility's magnetic field value and each magnetic field strength value.

[0064] It should be explained that each actual facility includes at least one magnetic field measurement point, and each magnetic field measurement point includes at least 10 magnetic dipoles. For example, the magnetic field measurement point corresponding to the fire hydrant in the garage has a total of 10 magnetic dipoles. Therefore, by collecting the magnetic field strength value generated by each of the 10 magnetic dipoles, the facility magnetic field value of the fire hydrant can be determined.

[0065] Further, the calculation of the facility's magnetic field value based on the preset facility magnetic field value calculation formula and each magnetic field strength value includes:

[0066] The magnetic field value of the facility is calculated using the following formula:

[0067]

[0068] Where j represents the j-th actual facility where the garage is located, H xj H represents the magnetic field value of the facility on the X-axis. yj H represents the magnetic field value of the facility on the Y-axis. zj In the magnetic field value of the facility on the Z-axis, N represents the total number of magnetic dipoles at the magnetic field measurement point, i represents the i-th magnetic dipole in the j-th actual facility magnetic field measurement point, and M... xi M represents the magnetic field strength of the i-th magnetic dipole along the X-axis. yi M represents the magnetic field strength of the i-th magnetic dipole along the Y-axis. zi This represents the magnetic field strength of the i-th magnetic dipole along the Z-axis, (a xij a yij a zij b xij b yij b zij c xij c yij c zij ) represents the magnetic field calculation coefficient in the formula for calculating the magnetic field value of the j-th actual facility.

[0069] Furthermore, the calculation of the magnetic field calculation coefficient includes:

[0070]

[0071]

[0072] Among them, a xij This represents the calculated magnetic field coefficients of the j-th actual facility and the i-th magnetic dipole along the X-axis. Indicates with a xij The corresponding weighting factor, p xj p represents the coordinate position of the j-th actual facility on the X-axis. xiLet a represent the coordinate position value of the i-th magnetic dipole on the X-axis. yij p represents the calculated magnetic field coefficients of the j-th actual facility and the i-th magnetic dipole along the Y-axis. yj p represents the Y-coordinate position of the j-th actual facility. yi This represents the Y-coordinate of the i-th magnetic dipole.

[0073] It should be explained that, in this embodiment of the invention, the weighting factor can be preset manually or calculated based on historical data of vehicles located in the garage, combined with iterative optimization using the gradient descent algorithm. The gradient descent algorithm is a publicly available technology, and will not be described in detail here.

[0074] It should be emphasized that a zij b xij b yij b zij c xij c yij c zij The calculation method for the isomagnetic field coefficient is similar to that described above, with the main difference being the substitution of the weighting factor and the subscript of the coordinate position value, as follows:

[0075]

[0076] Among them, a xij With b xij The main difference lies in the different weighting factors. The calculation methods for other magnetic field coefficients are compared and derived, which will not be elaborated here.

[0077] It should be explained that the calculation method for the magnetic field value of a user's vehicle is the same as that for the magnetic field value of an actual facility, and will not be repeated here.

[0078] S4. When the multi-dimensional magnetic field values ​​of each facility structure model and user vehicle are successfully collected, the geographical location of each actual facility and user vehicle is obtained according to the facility structure model, and the facility location value and vehicle location value are obtained.

[0079] It should be explained that, in order to improve the accuracy of vehicle positioning, this invention, based on obtaining the magnetic field values ​​of the facility and the vehicle, further [refers to...]. Figure 3 As shown, the geographical location of each actual facility and user vehicle is determined using GPS devices, yielding facility location values ​​and vehicle location values, including:

[0080] S41. Activate the pre-installed positioning system in the garage and import multiple facility structure models into the positioning system;

[0081] S42. After the positioning system successfully receives multiple facility structure models, it sequentially obtains the facility information for each facility structure model, including the facility name and the location information of the facility in the garage.

[0082] S43. Based on the facility information, the actual facility is relocated using a positioning system to obtain the facility location value;

[0083] S44. Use the smart terminal to connect to the vehicle system of the user's vehicle. After the connection to the vehicle system is successful, reconnect the vehicle system with the positioning system.

[0084] S45. Until the vehicle system and the positioning system are successfully reconnected, the positioning system is used to locate the user's vehicle and obtain the vehicle's location value.

[0085] Understandably, the positioning system can generally be pre-installed in the garage, such as by installing multiple GPS positioning detectors in the garage, and the positioning system is obtained by linking multiple GPS positioning detectors. Furthermore, the location information of the facility in the garage in the facility information of each facility structure model is actually obtained by positioning through the positioning system before modeling. However, in order to improve the positioning accuracy, this embodiment of the invention performs a secondary positioning through the positioning system. If the positioning information determined by the secondary positioning differs significantly from the location information of the facility information in the garage before modeling, the management personnel are notified to perform manual correction and verification.

[0086] Furthermore, the location of the vehicle's infotainment system can accurately guarantee the vehicle's position. Therefore, in this embodiment of the invention, the infotainment system and the positioning system are reconnected to confirm the vehicle's location value.

[0087] S5. Upload the facility's magnetic field value, the vehicle's magnetic field value, the facility's location value, and the vehicle's location value to the smart terminal to complete the vehicle parking.

[0088] It should be explained that the facility magnetic field value, vehicle magnetic field value, facility location value, and vehicle location value are important positioning information. Among them, the facility magnetic field value and facility location value are the reference positioning information for the user's vehicle, while the vehicle magnetic field value and vehicle location value are the actual positioning information for the user's vehicle. By combining the reference positioning information and the actual positioning information, the user's vehicle can be located effectively and accurately, preventing the positioning inaccuracy caused by traditional methods that only locate the user's vehicle.

[0089] Furthermore, the process of uploading the facility's magnetic field value, the vehicle's magnetic field value, the facility's location value, and the vehicle's location value to the smart terminal to complete vehicle parking also includes:

[0090] Receive a startup command from the user to open the smart terminal, and start the smart terminal according to the startup command;

[0091] The system receives a vehicle search command input by the user in a smart terminal, and obtains the user's current location and the vehicle's parking location based on the vehicle search command. The vehicle's parking location is determined based on the facility's magnetic field value, the vehicle's magnetic field value, the facility's location value, and the vehicle's location value.

[0092] The user's driving route is generated based on the current location and the vehicle's parking location, and then fed back to the user.

[0093] Understandably, after a user parks their vehicle, they may need to leave the vehicle temporarily. For example, as mentioned above, Xiao Zhang parked his vehicle in the shopping garage and went shopping at the mall. After finishing his shopping, he opened his phone and entered the vehicle location command. Therefore, by using the information such as the facility magnetic field value, vehicle magnetic field value, facility location value, and vehicle location value stored in the phone in advance, Xiao Zhang's vehicle can be quickly located.

[0094] Furthermore, it should be explained that by using the facility's magnetic field value, the vehicle's magnetic field value, the facility's location value, and the vehicle's location value as vehicle positioning information, the traditional method relies solely on GPS to locate the vehicle. However, due to the poor signal inside the garage, GPS positioning often results in errors. Therefore, by using the facility's magnetic field value, the vehicle's magnetic field value, and the facility's location value as references, the vehicle's location value can be corrected, thereby improving the accuracy of the vehicle's location value.

[0095] Compared to the problems described in the background art, the embodiments of the present invention first receive the parking command input by the user in the smart terminal, and then activate the geomagnetic information acquisition device according to the parking command. It is understood that the geomagnetic information acquisition device is the core device of the embodiments of the present invention, and its main purpose is to obtain the electromagnetic values ​​of the garage and the vehicle, and to use the electromagnetic values ​​to assist in correcting the vehicle positioning information, thereby improving the positioning accuracy. Furthermore, the garage structure model of the parking garage where the user is parked is obtained. This garage structure model is then split according to building type to obtain multiple facility structure models, each corresponding to a specific facility in the garage. It should be noted that the garage structure model is a pre-constructed simulation model. This simulation model can be used to identify all buildings in the garage that require electromagnetic value calculations. Therefore, the geomagnetic information acquisition device is used to collect multi-dimensional magnetic field values ​​for each actual facility and the user's vehicle, obtaining corresponding facility magnetic field values ​​and vehicle magnetic field values. Furthermore, when the multi-dimensional magnetic field values ​​for each facility structure model and the user's vehicle are successfully acquired, the geographical location of each actual facility and the user's vehicle is obtained based on the facility structure model, yielding facility location values ​​and vehicle location values. It is evident that facility magnetic field values ​​and vehicle magnetic field values ​​can serve as auxiliary information for vehicle positioning to correct vehicle positioning information. Therefore, the facility magnetic field values, vehicle magnetic field values, facility location values, and vehicle location values ​​are uploaded to the smart terminal to complete vehicle parking. Therefore, the method, device, electronic device, and computer-readable storage medium for determining parking location based on the Earth's magnetic field proposed in this invention primarily aim to improve the accuracy of vehicle positioning.

[0096] Exemplary System

[0097] Figure 4 This is a block diagram of a vehicle automatic positioning system based on magnetic field-assisted information according to an embodiment of this application. Figure 4 As shown, the vehicle automatic positioning system 100 based on magnetic field-assisted information according to an embodiment of this application includes: a geomagnetic information acquisition device activation module 110, used to receive a parking command input by a user in a smart terminal and activate the geomagnetic information acquisition device according to the parking command; a building type splitting module 120, used to obtain a garage structure model of the garage where the user is parking, and split the garage structure model according to building type to obtain multiple facility structure models, wherein each facility structure model corresponds to each actual facility in the garage; a magnetic field value calculation module 130, used to use the geomagnetic information acquisition device to collect multi-dimensional magnetic field values ​​of each actual facility and the user's vehicle, and obtain corresponding facility magnetic field values ​​and vehicle magnetic field values; and a location value uploading module 140, used to, when the multi-dimensional magnetic field values ​​of each facility structure model and the user's vehicle are successfully collected, obtain the geographical location of each actual facility and the user's vehicle according to the facility structure model, obtain facility location values ​​and vehicle location values, and upload the facility magnetic field values, vehicle magnetic field values, facility location values ​​and vehicle location values ​​to the smart terminal to complete vehicle parking.

[0098] In one example, in the above-mentioned vehicle automatic positioning system 100 based on magnetic field-assisted information, the geomagnetic information acquisition device consists of multiple magnetic field measurement points and magnetic field receivers. The magnetic field receivers are used to collect the magnetic field information transmitted back from each magnetic field measurement point. Each magnetic field measurement point is pre-distributed in multiple locations in the garage, and each magnetic field measurement point includes multiple magnetic dipoles.

[0099] In one example, in the above-mentioned vehicle automatic positioning system 100 based on magnetic field-assisted information, the actual facilities include garage roads, cement pillars, fire hydrants, signs, lights, and pipes.

[0100] In one example, in the above-mentioned vehicle automatic positioning system 100 based on magnetic field-assisted information, the method for acquiring the facility's magnetic field value includes:

[0101] Identify the magnetic field measurement point corresponding to the actual facility and obtain multiple magnetic dipoles at that magnetic field measurement point;

[0102] The magnetic field strength value generated by each magnetic dipole at the magnetic field measurement point is obtained sequentially, wherein the magnetic field strength value is composed of the magnetic field strength values ​​of the X-axis, Y-axis and Z-axis;

[0103] The actual magnetic field value of the facility is calculated based on the preset formula for calculating the facility's magnetic field value and the strength value of each magnetic field.

[0104] In one example, in the aforementioned vehicle automatic positioning system 100 based on magnetic field-assisted information, the step of calculating the actual facility's magnetic field value according to a preset facility magnetic field value calculation formula and each magnetic field strength value includes:

[0105] The magnetic field value of the facility is calculated using the following formula:

[0106]

[0107] Where j represents the j-th actual facility where the garage is located, H xj H represents the magnetic field strength value of the j-th actual facility on the X-axis. yj H represents the magnetic field value of the facility on the Y-axis. zj The magnetic field value of the facility is represented by the value on the Z-axis, N represents the total number of magnetic dipoles at the magnetic field measurement point, i represents the i-th magnetic dipole at the j-th actual facility magnetic field measurement point, and M represents the magnetic field value of the facility on the Z-axis. xi M represents the magnetic field strength of the i-th magnetic dipole along the X-axis. yi This represents the magnetic field strength of the i-th magnetic dipole along the Y-axis, (a xij a yij a zijb xij b yij b zij c xij c yij c zij M represents the magnetic field calculation coefficient in the formula for calculating the magnetic field value of the j-th actual facility. zi This represents the magnetic field strength of the i-th magnetic dipole along the Z-axis.

[0108] In one example, in the above-described vehicle automatic positioning system 100 based on magnetic field-assisted information, the calculation of the magnetic field calculation coefficient includes:

[0109]

[0110]

[0111] Among them, a xij This represents the calculated magnetic field coefficients of the j-th actual facility and the i-th magnetic dipole along the X-axis. Indicates with a xij The corresponding weighting factor, p xj p represents the coordinate position of the j-th actual facility on the X-axis. xi Let a represent the coordinate position value of the i-th magnetic dipole on the X-axis. yij p represents the calculated magnetic field coefficients of the j-th actual facility and the i-th magnetic dipole along the Y-axis. yj p represents the Y-coordinate position of the j-th actual facility. yi This represents the Y-coordinate of the i-th magnetic dipole.

[0112] In one example, in the aforementioned vehicle automatic positioning system 100 based on magnetic field-assisted information, the step of obtaining the geographical location of each actual facility and user vehicle according to the facility structure model to obtain facility location values ​​and vehicle location values ​​includes:

[0113] Activate the pre-installed positioning system in the garage and import multiple facility structure models into the positioning system;

[0114] After the positioning system successfully receives multiple facility structure models, it sequentially obtains the facility information for each facility structure model, including the facility name and the location of the facility in the garage.

[0115] Based on the facility information, the actual facility is relocated using a positioning system to obtain the facility location value;

[0116] The smart terminal is used to connect to the vehicle's infotainment system. Once the connection to the infotainment system is successful, the infotainment system is reconnected to the positioning system.

[0117] Once the vehicle infotainment system and the positioning system are successfully reconnected, the positioning system is used to locate the user's vehicle and obtain the vehicle's location value.

[0118] In one example, in the above-mentioned vehicle automatic positioning system 100 based on magnetic field-assisted information, the actual facility includes at least one magnetic field measurement point, and each magnetic field measurement point includes at least 10 magnetic dipoles.

[0119] In one example, in the aforementioned vehicle automatic positioning system 100 based on magnetic field-assisted information, after uploading the facility magnetic field value, vehicle magnetic field value, facility location value, and vehicle location value to the smart terminal to complete vehicle parking, the system further includes:

[0120] Receive a startup command from the user to open the smart terminal, and start the smart terminal according to the startup command;

[0121] The system receives a vehicle search command input by the user in a smart terminal, and obtains the user's current location and the vehicle's parking location based on the vehicle search command. The vehicle's parking location is determined based on the facility's magnetic field value, the vehicle's magnetic field value, the facility's location value, and the vehicle's location value.

[0122] The user's driving route is generated based on the current location and the vehicle's parking location, and then fed back to the user.

[0123] Here, those skilled in the art will understand that the specific functions and operations of each unit and module in the above-described vehicle automatic positioning system 100 based on magnetic field-assisted information have been referenced above. Figures 1 to 4 The method for automatic vehicle positioning based on magnetic field-assisted information has been described in detail, and therefore, its repeated description will be omitted.

[0124] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0125] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0126] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0127] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0128] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A vehicle automatic positioning method based on magnetic field auxiliary information, characterized in that, include: Receive parking instructions input by the user in the smart terminal, and activate the geomagnetic information acquisition device according to the parking instructions; Obtain the garage structure model of the garage where the user is parked, and split the garage structure model according to the building type to obtain multiple facility structure models, where each facility structure model corresponds to each actual facility in the garage; The geomagnetic information acquisition equipment is used to collect multi-dimensional magnetic field values ​​for each actual facility and user vehicle to obtain the corresponding facility magnetic field value and vehicle magnetic field value. When the multidimensional magnetic field values ​​of each facility structure model and user vehicle are successfully collected, the geographical location of each actual facility and user vehicle is obtained based on the facility structure model, and the facility location value and vehicle location value are obtained. The facility's magnetic field value, the vehicle's magnetic field value, the facility's location value, and the vehicle's location value are uploaded to the smart terminal to complete the vehicle parking process; The geomagnetic information acquisition device consists of multiple magnetic field measurement points and magnetic field receivers. The magnetic field receivers are used to collect the magnetic field information transmitted back from each magnetic field measurement point. Each magnetic field measurement point is pre-distributed in multiple locations in the garage, and each magnetic field measurement point includes multiple magnetic dipoles.

2. The vehicle automatic positioning method based on magnetic field-assisted information according to claim 1, characterized in that, The actual facilities include garage roads, cement pillars, fire hydrants, signs, lights, and pipes.

3. The automatic vehicle positioning method based on magnetic field-assisted information according to claim 1, characterized in that, The method for collecting the magnetic field values ​​of the facility includes: Identify the magnetic field measurement point corresponding to the actual facility and obtain multiple magnetic dipoles at that magnetic field measurement point; The magnetic field strength value generated by each magnetic dipole at the magnetic field measurement point is obtained sequentially, wherein the magnetic field strength value is composed of the magnetic field strength values ​​of the X-axis, Y-axis and Z-axis; The actual magnetic field value of the facility is calculated based on the preset formula for calculating the facility's magnetic field value and the strength value of each magnetic field.

4. The automatic vehicle positioning method based on magnetic field-assisted information according to claim 3, characterized in that, The calculation of the actual facility's magnetic field value based on a preset formula and each magnetic field strength value includes: The magnetic field value of the facility is calculated using the following formula: in, Indicates the location of the garage. A physical facility, Indicates the first The magnetic field strength value of each actual facility on the X-axis. This represents the magnetic field value of the facility along the Y-axis. This represents the magnetic field value of the facility along the Z-axis. This represents the total number of magnetic dipoles at the magnetic field measurement point. Indicates the first The i-th magnetic dipole in the magnetic field measurement points of a real facility, This represents the magnetic field strength of the i-th magnetic dipole along the X-axis. Let represent the magnetic field strength of the i-th magnetic dipole along the Y-axis. Indicates the first The magnetic field calculation coefficients in the formula for calculating the magnetic field value of an actual facility. This represents the magnetic field strength of the i-th magnetic dipole along the Z-axis.

5. The automatic vehicle positioning method based on magnetic field-assisted information according to claim 4, characterized in that, The calculation of the magnetic field calculation coefficient includes: in, Indicates the first The calculated magnetic field coefficients of the actual facility and the i-th magnetic dipole on the X-axis are as follows: Indicates and The corresponding weighting factor, Indicates the first The actual coordinate position of the facility on the X-axis. This represents the coordinate position value of the i-th magnetic dipole on the X-axis. Indicates the first The calculated magnetic field coefficients of the actual facility and the i-th magnetic dipole on the Y-axis are as follows: Indicates the first The actual coordinate position of the facility on the Y-axis. This represents the Y-coordinate of the i-th magnetic dipole.

6. The automatic vehicle positioning method based on magnetic field-assisted information according to claim 1, characterized in that, The step of obtaining the geographical location of each actual facility and user vehicle based on the facility structure model, and obtaining facility location values ​​and vehicle location values, includes: Activate the pre-installed positioning system in the garage and import multiple facility structure models into the positioning system; After the positioning system successfully receives multiple facility structure models, it sequentially obtains the facility information for each facility structure model, including the facility name and the location of the facility in the garage. Based on the facility information, the actual facility is relocated using a positioning system to obtain the facility location value; The smart terminal is used to connect to the vehicle's infotainment system. Once the connection to the infotainment system is successful, the infotainment system is reconnected to the positioning system. Once the vehicle infotainment system and the positioning system are successfully reconnected, the positioning system is used to locate the user's vehicle and obtain the vehicle's location value.

7. The automatic vehicle positioning method based on magnetic field-assisted information according to claim 6, characterized in that, The actual facility includes at least one magnetic field measurement point, and each magnetic field measurement point includes at least 10 magnetic dipoles.

8. The automatic vehicle positioning method based on magnetic field-assisted information according to claim 1, characterized in that, The process of uploading the facility's magnetic field value, the vehicle's magnetic field value, the facility's location value, and the vehicle's location value to the smart terminal to complete vehicle parking also includes: Receive a startup command from the user to open the smart terminal, and start the smart terminal according to the startup command; The system receives a vehicle search command input by the user in a smart terminal, and obtains the user's current location and the vehicle's parking location based on the vehicle search command. The vehicle's parking location is determined based on the facility's magnetic field value, the vehicle's magnetic field value, the facility's location value, and the vehicle's location value. The user's driving route is generated based on the current location and the vehicle's parking location, and then fed back to the user.

9. A vehicle automatic positioning system based on magnetic field-assisted information, characterized in that, include: The geomagnetic information acquisition device start-up module is used to receive parking instructions input by the user in the smart terminal and start the geomagnetic information acquisition device according to the parking instructions; The geomagnetic information acquisition device consists of multiple magnetic field measurement points and magnetic field receivers. The magnetic field receivers are used to collect the magnetic field information transmitted back from each magnetic field measurement point. Each magnetic field measurement point is pre-distributed in multiple locations in the garage, and each magnetic field measurement point includes multiple magnetic dipoles. The building type splitting module is used to obtain the garage structure model of the garage where the user is parking, and split the garage structure model according to the building type to obtain multiple facility structure models, where each facility structure model corresponds to each actual facility in the garage. The magnetic field value calculation module is used to collect multi-dimensional magnetic field values ​​of each actual facility and user vehicle using the geomagnetic information acquisition equipment, and obtain the corresponding facility magnetic field value and vehicle magnetic field value. The location value upload module is used to obtain the geographical location of each actual facility and user vehicle based on the facility structure model when the multi-dimensional magnetic field value of each facility structure model and user vehicle is successfully collected, obtain the facility location value and vehicle location value, and upload the facility magnetic field value, vehicle magnetic field value, facility location value and vehicle location value to the smart terminal to complete vehicle parking.

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