Vehicle position calculation method, device, equipment and medium

Abstract

The present application provides a method, apparatus, device, and medium for calculating vehicle position. The method includes: obtaining a target point within the vehicle's field of view; calculating the vehicle's first, second, and third position coordinates using the target point; determining a target area using the average of the first, second, and third position coordinates as the center and a preset length as the radius; and obtaining the vehicle's calculated position based on the positional relationship between the first, second, and third position coordinates and the target area. This improves the accuracy of vehicle position calculation.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle positioning technology, and in particular to a method, device, equipment and medium for calculating vehicle position. Background Art

[0002] As urban NOA (Navigate on Autopilot) technology becomes increasingly widespread across various smart car models, it's garnering significant attention from OEMs, parts suppliers, and users. Accurate vehicle positioning is crucial to the performance of urban NOA, especially in environments with dense urban areas and canyons, or where GNSS (Global Navigation Satellite System) signals are severely obstructed, making it impossible to determine absolute coordinates.

[0003] At present, although there are many relative positioning technologies based on visual matching, they have many limitations. The main problem is that the accuracy error of visual ranging is difficult to control, resulting in inaccurate positioning. Therefore, how to improve the accuracy of vehicle positioning has become an urgent problem that needs to be solved. Summary of the Invention

[0004] The present application provides a method, apparatus, device and medium for calculating vehicle position to improve the accuracy of vehicle position calculation.

[0005] In a first aspect, a method for calculating a vehicle position is provided, the method comprising:

[0006] Get the target point within the vehicle's field of view;

[0007] Calculating the first position coordinate, the second position coordinate, and the third position coordinate of the vehicle through the target point;

[0008] Determine a target area by taking an average value of the first position coordinate, the second position coordinate, and the third position coordinate as the center of a circle and a preset length as the radius;

[0009] The calculated position of the vehicle is obtained according to the positional relationship between the first position coordinate, the second position coordinate, the third position coordinate and the target area.

[0010] Preferably, if the target point is the point closest to the vehicle, calculating the first position coordinates of the vehicle through the target point includes:

[0011] The first position coordinates of the vehicle are calculated using the following formula:

[0012]

[0013] in, is the first position coordinate, ( is the position coordinate of the target point, Measured by the vehicle camera ( and The distance between is the displacement of the vehicle, Measured by vehicle camera and The distance value between them.

[0014] Preferably, if the target point is the point closest to the vehicle, calculating the second position coordinates using the target point includes:

[0015] The second position coordinates are calculated using the following formula:

[0016]

[0017] in, is the second position coordinate, ( is the position coordinate of the target point, Measured by the vehicle camera ( and The distance between The line connecting the calculated position and the position coordinates of the target point and ( is the angle between the horizontal coordinates where the origin of the coordinate system is located.

[0018] Preferably, if the target point is the point closest to the vehicle and the second closest point, calculating the third position coordinates by using the target point includes:

[0019] The third position coordinates are calculated by the following formula:

[0020]

[0021] in, is the third position coordinate, ( is the position coordinate of the point closest to the vehicle, is the position coordinate of the point closest to the vehicle, Measured by the vehicle camera ( and The distance between Measured by vehicle camera and The distance value between them.

[0022] Preferably, the method further comprises: matching positioning points through a navigation map, and filtering abnormal coordinates in the first position coordinates, the second position coordinates, and the third position coordinates respectively.

[0023] Preferably, obtaining the calculated position of the vehicle according to the positional relationship between the first position coordinate, the second position coordinate, the third position coordinate and the target area includes:

[0024] Obtaining the position coordinates within the target area;

[0025] The calculated position of the vehicle is determined according to the position coordinates within the target area.

[0026] Preferably, determining the calculated position of the vehicle according to the position coordinates within the target area includes:

[0027] If there are multiple position coordinates within the target area, determining the calculated position of the vehicle according to the average position coordinate of the position coordinates within the target area;

[0028] If there is a position coordinate within the target area, the calculated position of the vehicle is determined according to the position coordinate within the target area.

[0029] In a second aspect, a vehicle position calculation device is provided, comprising:

[0030] An acquisition module is used to acquire target points within the vehicle's field of view;

[0031] a calculation module, configured to calculate the first position coordinate, the second position coordinate, and the third position coordinate of the vehicle through the target point;

[0032] A determination module, configured to determine a target area using an average value of the first position coordinate, the second position coordinate, and the third position coordinate as a center of a circle and a preset length as a radius;

[0033] A solution module is used to obtain a solution position of the vehicle according to a positional relationship between the first position coordinate, the second position coordinate, the third position coordinate and the target area.

[0034] In a third aspect, an electronic device is provided, comprising: a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method in the first aspect or its various implementations.

[0035] In a fourth aspect, a computer-readable storage medium is provided for storing a computer program, wherein the computer program enables a computer to execute the method according to the first aspect or its various implementations.

[0036] In a fifth aspect, a computer program product is provided, comprising computer program instructions, which enable a computer to execute the method in the first aspect or its various implementations.

[0037] In a sixth aspect, a computer program is provided, which enables a computer to execute the method in the first aspect or its various implementations.

[0038] Through the technical solution provided by the present application, the first position coordinate, the second position coordinate and the third position coordinate of the vehicle are firstly calculated by the target point, and then the average value of the position coordinates obtained by the first position coordinate, the second position coordinate and the third position coordinate is used as the center of the circle, and the preset length is used as the radius to determine the target area, and finally the calculated position of the vehicle is obtained based on the positional relationship between the first position coordinate, the second position coordinate and the third position coordinate and the target area. Compared with the prior art that uses visual matching technology to calculate the vehicle position, the present application obtains the first position coordinate, the second position coordinate and the third position coordinate of the vehicle through three different calculation methods based on the target point, and then obtains the calculated position of the vehicle based on the three position coordinates, thereby avoiding the problem of inaccurate vehicle calculated position due to visual ranging accuracy error, so that the accuracy of vehicle position calculation can be improved through the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0040] Figure 1 A flowchart of a method for calculating vehicle position provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of the first position coordinate calculation principle provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of the second position coordinate calculation principle provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of the third position coordinate calculation principle provided in an embodiment of the present application;

[0044] Figure 5 A schematic diagram of the aggregation degree judgment logic provided in an embodiment of the present application;

[0045] Figure 6A flowchart of another method for calculating vehicle position provided in an embodiment of the present application;

[0046] Figure 7 A schematic diagram of removing anomalies from the first and third position coordinates provided in an embodiment of the present application;

[0047] Figure 8 A schematic diagram of eliminating anomalies in the second position coordinates provided in an embodiment of the present application;

[0048] Figure 9 A schematic diagram of a vehicle position calculation device provided in an embodiment of the present application;

[0049] Figure 10 It is a schematic block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0052] Figure 1 A flowchart of a method for calculating vehicle position provided in an embodiment of the present application, the method may include the following steps:

[0053] S110: Acquire a target point within the vehicle's field of view.

[0054] Specifically, this embodiment can obtain target points within the vehicle's field of view through a camera installed in the vehicle. The camera can be installed in the front, left or right side, etc. This embodiment does not make specific restrictions on this.

[0055] It should be noted that the target point in this embodiment is a landmark stationary object that can be captured by the vehicle's camera, such as a road test signal base station, traffic light, or warning sign. Furthermore, the target point is a high-precision map mapping target, and its precise coordinates can be found in the high-precision map data, facilitating the calculation of the vehicle's position coordinates based on the target point's coordinates in subsequent steps.

[0056] S120: Obtaining a first position coordinate, a second position coordinate, and a third position coordinate of the vehicle through target point calculation.

[0057] In this embodiment, different calculation methods are used according to the position coordinates of the target point to calculate multiple position coordinates of the vehicle, that is, three different calculation methods are used to respectively calculate the first position coordinate, the second position coordinate and the third position coordinate of the vehicle.

[0058] In this embodiment, different target points correspond to different identification information, and the identification information can uniquely identify the corresponding target point, and the position coordinates corresponding to the target point can be determined through the identification information. Exemplarily, this embodiment determines the position coordinates corresponding to the target point through a preset mapping table, and the preset mapping table stores the position coordinates corresponding to the identification information of different target points. Specifically, the image captured within the field of view is acquired by the vehicle camera, and then image recognition is performed on the captured image to determine whether the captured image contains a landmark still object. If so, the identification information corresponding to the target point in the image is determined based on the current area of ​​the vehicle and the captured image. For example, if the current area is determined to be area A, the images corresponding to each target point in area A are acquired from the image library, and then the captured image is matched with the image in the image library, and the identification information corresponding to the target point is determined based on the matching result.

[0059] In addition, this embodiment can also mark corresponding identification information on iconic stationary objects, so that after the vehicle camera captures the image, it can perform image recognition based on the image to obtain the corresponding identification information in the image, and then determine the position coordinates of the corresponding target point from the preset mapping table based on the obtained identification information.

[0060] It should be noted that, since there is a possibility that one or more target points may exist in the captured image during the vehicle camera's shooting process, if there are multiple target points, the target point closest to the vehicle is obtained, and then the first position coordinates and the second position coordinates of the vehicle are calculated based on the target point closest to the vehicle; or the target point closest to the vehicle and the target point second closest to the vehicle are obtained, and then the second position coordinates of the vehicle are calculated based on the target point closest to the vehicle and the target point second closest to the vehicle.

[0061] In an optional embodiment provided in this application, Figure 2 As shown, if the target point is the point closest to the vehicle, the first position coordinates of the vehicle are calculated by using the target point, including:

[0062] The first position coordinates of the vehicle are calculated by the following equation group (1):

[0063] (1)

[0064] in, is the first position coordinate, i.e. the vehicle coordinate at the current moment, ( is the position coordinate of the target point, Measured by the vehicle camera ( and The distance between is the displacement of the vehicle, Measured by vehicle camera and The distance value between them.

[0065] In this embodiment, only is the unknown quantity to be determined, the others are known quantities, the displacement of the vehicle The output of the accelerometer and gyroscope in the IMU (Inertial Measurement Unit) is integrated over time and then converted into a two-dimensional coordinate system; ( From high-precision map data; and The distance measurement value from the vehicle's camera includes the distance measurement error.

[0066] It should be noted that, considering the timeliness of calculating the vehicle position coordinates, the next observation time should not be too far from the current time. The next observation time is affected by the IMU output cycle and the camera frame rate, and the lowest common multiple of the two is generally taken. For example, if the IMU output cycle is 10ms and the camera frame cycle is 66ms, then the next observation time can be 330ms after the current time. When the first position coordinates After calculation, the coordinate position of the next observation time It was also confirmed.

[0067] In an optional embodiment provided in this application, Figure 3 As shown, if the target point is the point closest to the vehicle, the second position coordinates are calculated by using the target point, including:

[0068] The second position coordinates are calculated by the following equation group (2):

[0069] (2)

[0070] in, is the second position coordinate, ( is the position coordinate of the target point, Measured by the vehicle camera ( and The distance between The line connecting the calculated position and the position coordinates of the target point and ( is the angle between the horizontal coordinates where the coordinate origin is located. is the unknown quantity to be determined, and the others are known quantities.

[0071] The above equation group (2) is transformed into the following equation group (3), and the second position coordinate is calculated based on the following formula.

[0072] (3)

[0073] In an optional embodiment provided in this application, Figure 4 As shown, if the target point is the point closest to the vehicle and the second closest point, the third position coordinates are calculated by the target point, including:

[0074] The third position coordinates are calculated by the following equation group (4):

[0075] (4)

[0076] in, is the third position coordinate, ( is the position coordinate of the point closest to the vehicle, is the position coordinate of the point closest to the vehicle, Measured by the vehicle camera ( and The distance between Measured by vehicle camera and In this embodiment, only is the unknown quantity to be determined, and the others are known quantities.

[0077] S130: Determine a target area by taking an average value of the first position coordinate, the second position coordinate, and the third position coordinate as the center of a circle and a preset length as the radius.

[0078] Specifically, such as Figure 5 The average value of the position coordinates shown can be calculated based on the following equation group (5):

[0079] (5)

[0080] The distances of the first position coordinate, the second position coordinate, and the third position coordinate from the average position coordinate are:

[0081] (6)

[0082] The preset length is L, which represents the aggregation judgment threshold and can be set according to the accuracy index requirements of relative positioning. For example, L can be 10 cm. ) as the origin, and L as the radius to make a circle to get the target area, then the problem of determining the degree of aggregation is transformed into examining , , There are several position coordinates within the target area (within the limit), and there are several position coordinates outside the target area (out of the limit).

[0083] S140: Obtaining a calculated position of the vehicle based on a positional relationship between the first position coordinate, the second position coordinate, the third position coordinate, and the target area.

[0084] In an optional embodiment provided in the present application, obtaining the calculated position of the vehicle according to the positional relationship between the first position coordinate, the second position coordinate, the third position coordinate and the target area includes:

[0085] S1401: Acquire the position coordinates within the target area.

[0086] S1402: If there are multiple position coordinates within the target area, determine the calculated position of the vehicle according to the average position coordinate of the position coordinates within the target area.

[0087] Specifically, if the three position coordinates are all within the target area, then ( ) is determined as the vehicle’s calculated position; if the two position coordinates are within the target area, Figure 5 Take the case as an example, Outside the target area, , Within the target area, the calculated position of the vehicle is:

[0088] ( )

[0089] S1403: If there is a position coordinate within the target area, the calculated position of the vehicle is determined according to the position coordinate within the target area.

[0090] In this embodiment, if only one point position coordinate is within the target area: , Outside the target area, In the target area, the calculated position of the vehicle is ( ).

[0091] It should be noted that if all three position coordinates are outside the target area, the degree of convergence is judged to be poor, and the vehicle's position cannot be determined from a safety and reliability perspective. A fault state with no accurate position must be reported to the outside.

[0092] The embodiment of the present application provides a method for calculating the position of a vehicle. First, the first position coordinate, second position coordinate, and third position coordinate of the vehicle are calculated through target point calculation. Then, the average value of the position coordinates obtained by using the first position coordinate, the second position coordinate, and the third position coordinate is used as the center of a circle and a preset length is used as the radius to determine a target area. Finally, the calculated position of the vehicle is obtained based on the positional relationship between the first position coordinate, the second position coordinate, the third position coordinate, and the target area. Compared with the prior art that uses visual matching technology to calculate the position of a vehicle, the present application obtains the first position coordinate, the second position coordinate, and the third position coordinate of the vehicle through three different calculation methods based on the target point, and then obtains the calculated position of the vehicle based on the three position coordinates. This avoids the problem of inaccurate vehicle position calculation due to visual ranging accuracy errors, and thus the accuracy of vehicle position calculation can be improved through the present application.

[0093] Figure 6 A flowchart of another method for calculating vehicle position provided in an embodiment of the present application, the method may include the following steps:

[0094] S610: Acquire a target point within the vehicle's field of view.

[0095] S620: Calculate the first position coordinate, the second position coordinate, and the third position coordinate of the vehicle through the target point.

[0096] S630: Matching positioning points through the navigation map, filtering out abnormal coordinates in the first position coordinates, the second position coordinates, and the third position coordinates respectively.

[0097] From the perspective of plane analytic geometry, both equations (1) and (4) are problems of finding the coordinates of the intersection point of two circles. Figure 7 (Take the first position coordinate as an example, the third position coordinate is completely similar) As shown, the intersection of two non-concentric circles generally has two intersection points (unless the two circles are tangent or do not intersect), that is, the equation group (1) and the equation group (4) generally have two solutions, so it is necessary to eliminate the false position points ( , )and( , ).

[0098] In this embodiment, the navigation map is used to match the positioning points. It is easy to find that the location of the false point is not on the road or near the navigation map positioning point. After removing the false (false location point) and retaining the true one ( ), ( Theoretically, there are also cases where the equations (1) and (4) have a unique solution or no solution: when there is a unique solution, the two circles are exactly tangent, which is equivalent to the false point and the real point coinciding. In this case, there is no need to remove the point; when there is no solution, it corresponds to the actual situation where the observation measurement is wrong or the time synchronization error is too large. In this case, the position calculation fails and an error needs to be reported externally, but an incorrect vehicle position will not be calculated to mislead the user, so there is relatively no safety hazard.

[0099] From the perspective of plane analytic geometry, the equation group (2) is actually a problem of finding the coordinates of the intersection point between a circle and a line passing through the center of the circle. Figure 8 As shown, the two intersection points are the two solutions of equation group (2), from which the false position points need to be eliminated ( , This embodiment uses the navigation map to match the positioning points. It is easy to find that the location of the false point is not on the road or near the navigation map positioning point. After removing the false and retaining the true ( ).

[0100] S640: Determine a target area by using an average value of the filtered first position coordinate, the second position coordinate, and the third position coordinate as the center of a circle and a preset length as the radius.

[0101] S650: Obtaining a calculated position of the vehicle according to a positional relationship between the first position coordinate, the second position coordinate, the third position coordinate, and the target area.

[0102] It should be noted that steps S610, S620, S640 and S650 in this embodiment are similar to Figure 1 The description of the corresponding steps in is the same and will not be repeated here in this embodiment.

[0103] Another method for calculating the position of a vehicle provided in an embodiment of the present application first calculates the first position coordinate, the second position coordinate and the third position coordinate of the vehicle through target point calculation, then uses the average value of the position coordinates obtained from the first position coordinate, the second position coordinate and the third position coordinate as the center of the circle, and presets the length as the radius to determine the target area, then matches the positioning points through the navigation map, and filters out the abnormal coordinates in the first position coordinate, the second position coordinate and the third position coordinate respectively, so as to ensure that the obtained position coordinates do not contain abnormal coordinates, and finally obtains the calculated position of the vehicle based on the positional relationship between the filtered first position coordinate, the second position coordinate and the third position coordinate and the target area. Compared with the prior art that uses visual matching technology to calculate the position of the vehicle, the present application obtains the first position coordinate, the second position coordinate and the third position coordinate of the vehicle through three different calculation methods based on the target point, and then obtains the calculated position of the vehicle based on the three position coordinates, thereby avoiding the problem of inaccurate vehicle calculated position due to visual ranging accuracy error, so that the accuracy of vehicle position calculation can be improved through the present application.

[0104] Figure 9 Schematic diagram of a vehicle position calculation device 900 provided in an embodiment of the present application. Figure 9 As shown, the apparatus 900 includes:

[0105] An acquisition module 901 is used to acquire a target point within the field of view of the vehicle;

[0106] A calculation module 902 is configured to calculate a first position coordinate, a second position coordinate, and a third position coordinate of the vehicle using the target point;

[0107] A determination module 903 is configured to determine a target area using an average value of the first position coordinate, the second position coordinate, and the third position coordinate as a center and a preset length as a radius;

[0108] The solving module 904 is configured to obtain a solved position of the vehicle according to a positional relationship between the first position coordinate, the second position coordinate, the third position coordinate and the target area.

[0109] In some implementations, the calculation module 902 is specifically configured to: the target point is the point closest to the vehicle, and the first position coordinates of the vehicle are calculated using the following formula:

[0110]

[0111] in, is the first position coordinate, ( is the position coordinate of the target point, Measured by the vehicle camera ( and The distance between is the displacement of the vehicle, Measured by vehicle camera and The distance value between them.

[0112] In some implementations, the calculation module 902 is specifically configured to: if the target point is the point closest to the vehicle, calculate the second position coordinates using the following formula:

[0113]

[0114] in, is the second position coordinate, ( is the position coordinate of the target point, Measured by the vehicle camera ( and The distance between The line connecting the calculated position and the position coordinates of the target point and ( is the angle between the horizontal coordinates where the origin of the coordinate system is located.

[0115] In some implementations, the calculation module 902 is specifically configured to: the target point is the point closest to the vehicle and the second closest point, and the third position coordinate is calculated using the following formula:

[0116]

[0117] in, is the third position coordinate, ( is the position coordinate of the point closest to the vehicle, is the position coordinate of the point closest to the vehicle, Measured by the vehicle camera ( and The distance between Measured by vehicle camera and The distance value between them.

[0118] In some implementations, the device further includes a filtering module 905 for matching positioning points through a navigation map and filtering abnormal coordinates in the first position coordinates, the second position coordinates, and the third position coordinates.

[0119] In some implementations, the solution module 904 is specifically configured to: obtain position coordinates within the target area; and determine a solution position of the vehicle based on the position coordinates within the target area.

[0120] In some possible implementations, the solution module 904 is specifically used to: if there are multiple position coordinates within the target area, determine the solution position of the vehicle based on the average value of the position coordinates within the target area; if there is one position coordinate within the target area, determine the solution position of the vehicle based on the position coordinates within the target area.

[0121] It should be understood that the device embodiment and the vehicle position solution method embodiment may correspond to each other, and similar descriptions can refer to the vehicle position solution method embodiment. To avoid repetition, no further details will be given here. Specifically, Figure 9 The device 900 shown can execute the above-mentioned vehicle position solution method embodiment, and the aforementioned and other operations and / or functions of each module in the device 900 are respectively for realizing the corresponding processes in the above-mentioned vehicle position solution method. For the sake of brevity, they are not repeated here.

[0122] The above description of the device 900 of the embodiment of the present application is based on the functional modules in conjunction with the accompanying drawings. It should be understood that the functional modules can be implemented in hardware, can be implemented in software form, or can be implemented in a combination of hardware and software modules. Specifically, the various steps of the embodiment of the method for calculating the vehicle position in the embodiment of the present application can be completed by the hardware integrated logic circuit and / or software form instructions in the processor. The steps of the method for calculating the vehicle position disclosed in the embodiment of the present application can be directly reflected as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. Optionally, the software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps in the above-mentioned embodiment of the method for calculating the vehicle position in conjunction with its hardware.

[0123] Figure 10 1 is a schematic block diagram of an electronic device 1000 provided in an embodiment of the present application. Figure 10 As shown, the electronic device 1000 may include: a processor 1001 , a memory 1002 , and may further include one or more of a multimedia component 1003 , an input / output (I / O) interface 1004 , and a communication component 1005 .

[0124] The processor 1001 is used to control the overall operation of the electronic device 1000 to complete all or part of the steps in the above-mentioned method for calculating the vehicle position. The memory 1002 is used to store various types of data to support the operation of the electronic device 1000. This data may include, for example, instructions for any application or method operating on the electronic device 1000, as well as application-related data such as contact information, sent and received messages, images, audio, video, etc. The memory 1002 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 1003 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 1002 or transmitted via the communication component 1005. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 1004 provides an interface between the processor 1001 and other interface modules, such as a keyboard, a mouse, and buttons. These buttons may be virtual or physical. The communication component 1005 is used for wired or wireless communication between the electronic device 1000 and other devices. Wireless communication may include Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G networks, or a combination thereof, without limitation. Accordingly, the communication component 1005 may include a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0125] In an exemplary embodiment, the electronic device 1000 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the above-mentioned vehicle position calculation method.

[0126] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When executed by a processor, the program instructions implement the steps of the above-described method for calculating vehicle position. For example, the computer-readable storage medium may be the aforementioned memory 1002 including the program instructions. The program instructions may be executed by the processor 1001 of the electronic device 1000 to perform the above-described method for calculating vehicle position.

[0127] In another exemplary embodiment, a computer-readable storage medium including program instructions is further provided. When the program instructions are executed by a processor, the steps of the above-mentioned method for calculating the vehicle position are implemented.

[0128] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and has a code portion for performing the above-mentioned method for calculating the vehicle position when the computer program is executed by the programmable device.

[0129] In another exemplary embodiment, a computer program is further provided, which enables a computer to execute the above-mentioned method for calculating the vehicle position.

[0130] Those skilled in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0131] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0132] Modules described as separate components may or may not be physically separate, and components displayed as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network elements. Some or all of the modules may be selected based on actual needs to achieve the purpose of the present embodiment. For example, the functional modules in the various embodiments of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module.

[0133] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for calculating vehicle position, characterized in that: The method comprises: Obtaining a target point within the vehicle's field of view; the target point is a landmark stationary object captured by the vehicle's camera; Calculating the first position coordinate, the second position coordinate, and the third position coordinate of the vehicle through the target point; Determine a target area by taking an average value of the first position coordinate, the second position coordinate, and the third position coordinate as the center of a circle and a preset length as the radius; Obtaining a calculated position of the vehicle according to a positional relationship between the first position coordinate, the second position coordinate, the third position coordinate and the target area; The step of calculating the first position coordinate, the second position coordinate, and the third position coordinate of the vehicle through the target point includes: If there are at least two target points within the vehicle's field of view, the target point closest to the vehicle is obtained to calculate the first position coordinate and the second position coordinate of the vehicle based on the target point closest to the vehicle; or the target point closest to the vehicle and the target point second closest to the vehicle are obtained to calculate the third position coordinate of the vehicle based on the target point closest to the vehicle and the target point second closest to the vehicle.

2. The method according to claim 1, characterized in that If the target point is the point closest to the vehicle, calculating the first position coordinates of the vehicle using the target point includes: The first position coordinates of the vehicle are calculated using the following formula: Among them, (x1, y1) is the first position coordinate, (x N ,y N ) is the position coordinate of the target point, R N is the vehicle camera measured (x N ,y N ) is the distance between (x1, y1), (Δx, Δy) is the displacement of the vehicle, R M is the vehicle camera measured (x N ,y N ) and (x1+Δx,y1+Δy).

3. The method according to claim 1, characterized in that If the target point is the point closest to the vehicle, calculating the second position coordinates using the target point includes: The second position coordinates are calculated using the following formula: Among them, (x2, y2) is the second position coordinate, (x N ,y N ) is the position coordinate of the target point, R N is the vehicle camera measured (x N ,y N ) and (x2, y2), α is the distance between the line connecting the calculated position and the position coordinates of the target point and the line with (x N ,y N ) is the angle between the horizontal coordinates where the coordinate origin is located.

4. The method according to claim 1, wherein If the target point is the point closest to the vehicle and the second closest point, calculating the third position coordinates using the target point includes: The third position coordinates are calculated by the following formula: Among them, (x3, y3) is the third position coordinate, (x N ,y N ) is the position coordinate of the point closest to the vehicle, (x S ,y S ) is the position coordinate of the point closest to the vehicle, R N is the vehicle camera measured (x N ,y N ) and (x3,y3), R S is the vehicle camera measured (x S ,y S ) and (x3,y3).

5. The method according to any one of claims 1 to 4, characterized in that The method further comprises: Matching positioning points is performed through the navigation map, and abnormal coordinates in the first position coordinates, the second position coordinates, and the third position coordinates are filtered out respectively.

6. The method according to claim 1, characterized in that Obtaining the calculated position of the vehicle according to the positional relationship between the first position coordinate, the second position coordinate, the third position coordinate and the target area includes: Obtaining the position coordinates within the target area; The calculated position of the vehicle is determined according to the position coordinates within the target area.

7. The method according to claim 6, characterized in that Determining the calculated position of the vehicle based on the position coordinates within the target area includes: If there are multiple position coordinates within the target area, determining the calculated position of the vehicle according to the average position coordinate of the position coordinates within the target area; If there is a position coordinate within the target area, the calculated position of the vehicle is determined according to the position coordinate within the target area.

8. A vehicle position calculation device, characterized in that: include: An acquisition module is used to acquire target points within the vehicle's field of view; The target point is a stationary object with a landmark captured by the vehicle camera; a calculation module, configured to calculate the first position coordinate, the second position coordinate, and the third position coordinate of the vehicle through the target point; A determination module, configured to determine a target area using an average value of the first position coordinate, the second position coordinate, and the third position coordinate as a center of a circle and a preset length as a radius; a calculation module, configured to obtain a calculated position of the vehicle based on a positional relationship between the first position coordinate, the second position coordinate, the third position coordinate and the target area; The calculation module includes: A calculation unit is used to obtain the target point closest to the vehicle if there are at least two target points within the field of view of the vehicle, so as to calculate the first position coordinate and the second position coordinate of the vehicle based on the target point closest to the vehicle; or to obtain the target point closest to the vehicle and the target point second closest to the vehicle, so as to calculate the third position coordinate of the vehicle based on the target point closest to the vehicle and the target point second closest to the vehicle.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the vehicle position calculation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that Used to store a computer program, wherein the computer program enables a computer to execute the method for calculating the vehicle position according to any one of claims 1 to 7.

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