Positioning method of vehicle position and vehicle

Abstract

The application discloses a positioning method of a vehicle position and a vehicle. The method relates to the field of Internet of Vehicles and comprises the following steps: acquiring position data of a vehicle in a driving process and image data of the vehicle in a target state, wherein the position data comprises at least one of the following: positioning data of the vehicle, relative position data and a relative change angle of a vehicle body of the vehicle, the target state comprises at least one of the following: an engine-off state, a locked state and a driving state, the relative position is used for representing a changed position of the vehicle relative to a previous cycle, and the relative change angle of the vehicle body is used for representing a changed angle of the vehicle body relative to the previous cycle; generating a driving track of the vehicle based on the position data and the image data; and positioning the vehicle position based on the driving track in response to that the vehicle receives a target instruction after parking. The application solves the technical problem of low positioning accuracy of vehicle positioning in the related art.

Description

Technical Field

[0001] This invention relates to the field of vehicle networking, and more specifically, to a method for locating a vehicle and a vehicle. Background Technology

[0002] Existing parking location search technologies rely on indoor parking lot positioning or parking lot image recognition to estimate parking positions. However, these technologies have specific site requirements and depend on indoor positioning systems and cameras installed in parking lots. Indoor positioning systems are limited by the site and are prone to misjudging vehicle parking positions, leading to inaccurate vehicle location.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a method for locating a vehicle and a vehicle, thereby at least solving the technical problem of low accuracy in vehicle location in related technologies.

[0005] According to one aspect of the present invention, a method for locating a vehicle position is provided, comprising: acquiring position data of the vehicle during driving and image data of the vehicle in a target state, wherein the position data includes at least one of the following: vehicle positioning data, relative position data, and relative change angle of the vehicle body, and the target state includes at least one of the following: engine off state, vehicle locked state, and driving state, the relative position is used to characterize the change in position of the vehicle relative to the previous cycle, and the relative change angle of the vehicle body is used to characterize the change angle of the vehicle body relative to the previous cycle; generating a driving trajectory of the vehicle based on the position data and the image data; and locating the vehicle position based on the driving trajectory in response to receiving a target command after the vehicle has stopped.

[0006] Optionally, acquiring vehicle location data includes: acquiring vehicle positioning data; judging the vehicle positioning data to obtain a first judgment result, wherein the first judgment result is used to characterize whether the vehicle positioning data is valid; and determining the positioning data as location data in response to the first judgment result being valid.

[0007] Optionally, in response to the first determination result that the positioning data is invalid, the vehicle's position data is obtained, including at least one of the following: obtaining relative position data; obtaining the relative change angle of the vehicle body.

[0008] Optionally, relative position data can be obtained, including: obtaining the angular velocity and wheel speed of the vehicle during driving; and analyzing the angular velocity and wheel speed to obtain relative position data.

[0009] Optionally, the relative change angle of the vehicle body can be obtained, including: obtaining the steering wheel angle of the vehicle during driving; and analyzing the steering wheel angle to obtain the relative change angle of the vehicle body.

[0010] Optionally, the vehicle's driving trajectory is generated based on location data and image data, including: labeling the location data based on a time axis to obtain a preset driving trajectory; identifying the target image data in the image data, wherein the target image data is used to characterize image data containing location features; and fusing the preset driving trajectory with the target image data to obtain the driving trajectory.

[0011] Optionally, identifying target image data from image data includes: cleaning the image data to obtain cleaned image data; and identifying the target image data from the cleaned image data.

[0012] Optionally, the method further includes: storing the location data and image data based on a first preset period.

[0013] Optionally, locating the vehicle position based on the driving trajectory includes: a control terminal displaying the driving trajectory, wherein the driving trajectory includes multiple location data and image data corresponding to the location data; in response to receiving an operation command to be executed on the driving trajectory, the control terminal displays target location data and target image data corresponding to the target location data in the driving trajectory, wherein the target location data is used to represent the location data selected by the user; and locating the vehicle position based on the target location data and the target image data.

[0014] According to another aspect of the present invention, a vehicle position positioning device is also provided, comprising: an acquisition module, configured to acquire position data of the vehicle during driving and image data of the vehicle in a target state, wherein the position data includes at least one of the following: vehicle positioning data, relative position data, and relative change angle of the vehicle body; the target state includes at least one of the following: engine off state, vehicle locked state, and driving state; the relative position is used to characterize the change in position of the vehicle relative to the previous cycle; and the relative change angle of the vehicle body is used to characterize the change angle of the vehicle body relative to the previous cycle; a generation module, configured to generate a driving trajectory of the vehicle based on the position data and the image data; and a positioning module, configured to locate the vehicle position based on the driving trajectory in response to receiving a target command after the vehicle has stopped.

[0015] According to another aspect of the present invention, a vehicle is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform any of the methods described above.

[0016] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is running, the device on which the computer-readable storage medium is located executes any of the above methods.

[0017] In this embodiment of the invention, the method involves acquiring the vehicle's position data during its journey and image data of the vehicle in a target state; generating the vehicle's driving trajectory based on the position data and image data; and, in response to receiving a target command after the vehicle has stopped, locating the vehicle's position based on the driving trajectory. It is readily apparent that by dynamically acquiring the vehicle's position data and image data, the vehicle's driving trajectory can be accurately generated based on the vehicle's data. Furthermore, based on the accurate driving trajectory, the vehicle's parking position can be accurately located, thereby improving the accuracy of vehicle positioning and solving the technical problem of low positioning accuracy in related technologies. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0019] Figure 1 This is a flowchart of a vehicle location positioning method according to an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of an optional vehicle location positioning system according to an embodiment of the present invention;

[0021] Figure 3 This is a flowchart of an optional location data acquisition method according to an embodiment of the present invention;

[0022] Figure 4 This is a flowchart of an optional image data acquisition method according to an embodiment of the present invention;

[0023] Figure 5 This is a flowchart of an optional vehicle positioning method based on location data and image data according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of an optional vehicle driving trajectory according to an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of a vehicle location positioning device according to an embodiment of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] According to an embodiment of the present invention, a method for locating the position of a vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0030] Figure 1 This is a flowchart of a vehicle location positioning method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0031] Step S102: Obtain the vehicle's position data during driving and the image data of the vehicle in the target state. The position data includes at least one of the following: vehicle positioning data, relative position data, and relative change angle of the vehicle body. The target state includes at least one of the following: engine off, vehicle locked, and driving. The relative position is used to characterize the vehicle's position change relative to the previous cycle, and the relative change angle of the vehicle body is used to characterize the vehicle's change angle relative to the previous cycle.

[0032] The aforementioned vehicle can be any type of vehicle with vehicle-to-everything (V2X) functionality, and is not limited in this embodiment. The aforementioned positioning data may include, but is not limited to, latitude and longitude information. The aforementioned image data may be images of the vehicle's surrounding environment acquired through a camera on the vehicle, such as, but not limited to, surrounding buildings, other vehicles, pedestrians, vegetation, environment, roads, and obstacles. The aforementioned relative position data may be the vehicle's current position data, relative to the change in position data of the vehicle in the previous period. The aforementioned relative change angle of the vehicle body may be the vehicle's current body angle, relative to the change in body angle of the vehicle in the previous period.

[0033] It should be noted that acquiring vehicle image data is not limited to cameras installed on the vehicle, but can also be any sensor, processor, module, device, etc. in the existing technology that can acquire image data of the vehicle's surrounding environment.

[0034] In one optional embodiment, to accurately locate the vehicle, when the vehicle is traveling on the road, cameras and sensors installed on the vehicle can acquire the vehicle's current positioning data, location data, vehicle angle, and surrounding environmental images. Furthermore, when the vehicle is off or locked, surrounding environmental images can also be acquired. Then, the acquired vehicle positioning data, location data, vehicle angle, and surrounding environmental images can be uploaded to the cloud via the vehicle's communication device. The cloud can then calculate the vehicle's location data and image data. For example, when the vehicle is traveling on the road, its location data and image data can be acquired in real time. Alternatively, when the vehicle is traveling on the road, its location data and image data can be acquired at certain time intervals. It should be noted that the time interval can be fixed or not; this embodiment does not impose a specific limitation, and users can set it according to their actual needs. Furthermore, the vehicle's communication device can upload the acquired vehicle data to the cloud in real time or at certain time intervals, but is not limited to these methods. It should be noted that when the communication device uploads vehicle data, it also uploads the time when the vehicle data was acquired, so that the cloud can generate a driving trajectory based on the acquisition time.

[0035] Step S104: Generate the vehicle's driving trajectory based on location data and image data.

[0036] The aforementioned driving trajectory can show a complete route taken by the vehicle. By viewing the driving trajectory, users can accurately locate the vehicle. The driving trajectory includes both vehicle location data and image data.

[0037] In one optional embodiment, after acquiring the vehicle's location data and image data, the cloud can first process the acquired location data and image data, for example, by removing invalid data, but not limited to this. Secondly, the acquired location data and image data at the same time can be matched to obtain multiple sets of matched location data and image data. Then, the matched location data can be drawn sequentially based on the acquisition time of the matched location data, and the matched image data can be marked on the corresponding location data, thus obtaining the vehicle's driving trajectory.

[0038] Step S106: In response to receiving the target command after the vehicle stops, the vehicle position is located based on the driving trajectory.

[0039] The aforementioned target command can be a vehicle location command issued by the user on the terminal, but it is not limited to this. It can also be a location command received by the vehicle after the user directly performs a location query operation on the vehicle's entertainment display system.

[0040] In one optional embodiment, after the vehicle has parked, if a user wants to check the vehicle's last parking location while away from the vehicle, the user can send a location command (i.e., a target command) to the vehicle via a terminal. Upon receiving the location command, the vehicle can forward it to the cloud via a communication device. The cloud can then send the driving trajectory to the terminal based on the location command. The user can then view the vehicle's location data and image data on the driving trajectory by clicking, zooming in, or zooming out on the terminal to determine the vehicle's location. Alternatively, after the vehicle has parked, if a user wants to check the vehicle's location at a specific time before parking, the user can perform a location query operation through the vehicle's entertainment display system. In response to the location query operation, the vehicle can generate a target command and send it to the cloud. The cloud can then send the driving trajectory to the vehicle based on the location command. The vehicle can then display the driving trajectory to the user through the entertainment display system. The user can then view the vehicle's location data and image data on the driving trajectory by clicking, zooming in, or zooming out on the entertainment display system to determine the vehicle's location at a specific time before parking.

[0041] In this embodiment of the invention, the method involves acquiring the vehicle's position data during its journey and image data of the vehicle in a target state; generating the vehicle's driving trajectory based on the position data and image data; and, in response to receiving a target command after the vehicle has stopped, locating the vehicle's position based on the driving trajectory. It is readily apparent that by dynamically acquiring the vehicle's position data and image data, the vehicle's driving trajectory can be accurately generated based on the vehicle's data. Furthermore, based on the accurate driving trajectory, the vehicle's parking position can be accurately located, thereby improving the accuracy of vehicle positioning and solving the technical problem of low positioning accuracy in related technologies.

[0042] Optionally, acquiring vehicle location data includes: acquiring vehicle positioning data; judging the vehicle positioning data to obtain a first judgment result, wherein the first judgment result is used to characterize whether the vehicle positioning data is valid; and determining the positioning data as location data in response to the first judgment result being valid.

[0043] In one optional embodiment, after obtaining the vehicle's location data, the validity of the location data can first be determined to obtain a first determination result. For example, it can be determined whether the location data is the current vehicle's location data, or whether the location data is complete, but it is not limited to these. When the first determination result indicates that the location data is valid, it can be determined that the location data is the vehicle's location data.

[0044] Optionally, in response to the first determination result that the positioning data is invalid, the vehicle's position data is obtained, including at least one of the following: obtaining relative position data; obtaining the relative change angle of the vehicle body.

[0045] In one optional embodiment, when the determination result is that the vehicle's positioning data is invalid, in order to continue to accurately locate the vehicle, the relative position data of the vehicle or the relative change angle of the vehicle's body can be obtained.

[0046] Optionally, relative position data can be obtained, including: obtaining the angular velocity and wheel speed of the vehicle during driving; and analyzing the angular velocity and wheel speed to obtain relative position data.

[0047] The aforementioned angular velocity can be obtained from the gyroscope on the vehicle, and the aforementioned wheel speed can be obtained from the vehicle's wheel speed sensor, but these are not the only methods.

[0048] In one optional embodiment, when the vehicle is in motion, the vehicle's angular velocity and wheel speed can be obtained in real time through the vehicle's gyroscope and wheel speed sensors. The vehicle's angular velocity and wheel speed can also be obtained at certain time intervals. The obtained vehicle angular velocity and wheel speed can be uploaded to the cloud through the vehicle's communication device. The cloud can then analyze the vehicle angular velocity and wheel speed of different periods to obtain the vehicle's relative position data.

[0049] Optionally, the relative change angle of the vehicle body can be obtained, including: obtaining the steering wheel angle of the vehicle during driving; and analyzing the steering wheel angle to obtain the relative change angle of the vehicle body.

[0050] The aforementioned steering wheel angle can be obtained through an angle sensor installed on the vehicle's steering wheel, but it is not limited to this.

[0051] In one optional embodiment, when the vehicle is in motion, the steering wheel angle can first be obtained by a steering angle sensor installed on the vehicle's steering wheel, and then the steering wheel angle can be sent to the cloud via a communication device on the vehicle. The cloud can then analyze the steering wheel angles at different cycles to obtain the relative change angle of the vehicle body.

[0052] Optionally, the vehicle's driving trajectory is generated based on location data and image data, including: labeling the location data based on a time axis to obtain a preset driving trajectory; identifying the target image data in the image data, wherein the target image data is used to characterize image data containing location features; and fusing the preset driving trajectory with the target image data to obtain the driving trajectory.

[0053] In one optional embodiment, the cloud can first mark the location data sequentially on the time axis based on the acquisition time of the location data to obtain a preset driving trajectory. At the same time, the cloud can also identify the image data and filter out the target image data containing location features. Secondly, based on the acquisition time, the corresponding preset driving trajectory can be fused with the target image data to obtain the vehicle's driving trajectory.

[0054] Optionally, identifying target image data from image data includes: cleaning the image data to obtain cleaned image data; and identifying the target image data from the cleaned image data.

[0055] In one optional embodiment, after the cloud acquires the image data, it can first clean the image data to reduce the computational load and complexity on the cloud. For example, the cloud can delete multiple duplicate image data with a similarity greater than a preset threshold, and can also delete image data with incomplete content, but it is not limited to these. Secondly, the cloud can identify the cleaned image data to obtain target image data containing location features.

[0056] Optionally, the method further includes: storing the location data and image data based on a first preset period.

[0057] The aforementioned first preset period can be set in advance by the user and is used to store location data and image data.

[0058] In one optional embodiment, after the cloud obtains the vehicle's location data and image data, in order to facilitate subsequent users to view the vehicle's current driving trajectory again, the cloud can store the location data and image data based on a first preset period.

[0059] Optionally, locating the vehicle position based on the driving trajectory includes: a control terminal displaying the driving trajectory, wherein the driving trajectory includes multiple location data and image data corresponding to the location data; in response to receiving an operation command to be executed on the driving trajectory, the control terminal displays target location data and target image data corresponding to the target location data in the driving trajectory, wherein the target location data is used to represent the location data selected by the user; and locating the vehicle position based on the target location data and the target image data.

[0060] In one optional embodiment, after the terminal obtains the vehicle's driving trajectory, it can display the driving trajectory to the user through the display screen. When the user performs an operation on the driving trajectory, such as clicking, zooming in, zooming out, etc., but not limited to these, an operation command can be generated in response to the user's operation. The terminal can respond to the operation command by displaying the target location data selected by the user and the target image data corresponding to the target location data in the driving trajectory. Finally, the user can locate the vehicle based on the target location data and the target image data.

[0061] Figure 2 This is a schematic diagram of an optional vehicle location positioning system according to an embodiment of the present invention, such as... Figure 2 As shown, the system includes the following modules: central processing unit 21, positioning module 22, communication module 23, door lock module 24, gyroscope module 25, steering wheel module 26, wheel speed sensor module 27, storage module 28, and camera module 29.

[0062] The positioning module 22, gyroscope module 25, wheel speed sensor module 27, door lock module 24, and steering wheel module 26 are unidirectionally connected to the central processing unit 21 to transmit data to the central processing unit 21. The communication module 23, storage module 28, and camera module 29 are bidirectionally connected to the central processing unit 21 to transmit data to and receive data from the central processing unit 21. In addition, the camera module 29 is also unidirectionally connected to the storage module 28 to send image data to the storage module 28.

[0063] When acquiring location data, if vehicle location data is available, the location data is stored as the trajectory for subsequent parking; if vehicle location is missing, the relative position of the vehicle is calculated using an inertial measurement unit (IMU) or gyroscope, as well as the vehicle's wheel speed and steering wheel angle, to calculate the distance traveled, turning angle, and other information; and all information is sent to the cloud. Figure 3 This is a flowchart of an optional location data acquisition method according to an embodiment of the present invention, such as... Figure 3 As shown, the method includes the following steps:

[0064] Step S31: Determine if the location data is valid. If yes, proceed to step S32; otherwise, proceed to step S33.

[0065] Step S32: Periodically record the positioning position (for example, the positioning position can be recorded at 1Hz), then proceed to step S37;

[0066] Step S33: Determine if the gyroscope is valid. If yes, proceed to step S34; otherwise, proceed to step S35.

[0067] Step S34: Calculate the relative position based on the gyroscope and wheel speed, and obtain the relative change angle of the vehicle body based on the steering wheel angle, then proceed to step S36;

[0068] Step S35: Based on the root steering wheel angle, obtain the relative change angle of the vehicle body, and proceed to step S36;

[0069] Step S36: Periodically record distance and angle (e.g., distance and angle can be recorded at 1Hz);

[0070] Step S37: After parking for a period of time, upload the location data and the time the location data was acquired to the cloud.

[0071] Step S38, End.

[0072] When acquiring image data, the camera captures images of the vehicle in front of it while the vehicle is running, as well as during special moments such as when the vehicle is locked or turned off, and then compresses and packages the images before sending them to the cloud. Figure 4 This is a flowchart of an optional image data acquisition method according to an embodiment of the present invention, such as... Figure 4 As shown, the method includes the following steps:

[0073] Step S41: Determine if the vehicle has wheel speed. If yes, proceed to step S42; otherwise, proceed to step S43.

[0074] Step S42: Take images periodically using the camera (for example, take images at 1Hz intervals using the camera), then proceed to step S45.

[0075] Step S43: Determine whether the vehicle is turned off or locked. If yes, proceed to step S44; otherwise, proceed to step S4.

[0076] Step S44: Take a picture using the camera;

[0077] Step S45: Record image data, including photo time and photo name;

[0078] Step S46: After parking for a period of time, upload the photos and image data to the cloud together, with the images in a compressed format;

[0079] Step S47, End.

[0080] Before the mobile phone displays the vehicle's location, the cloud cleans the image data, removing highly repetitive and useless images. First, it annotates the vehicle's trajectory using a timeline, including information such as the length of each road segment, road corners, and time. Then, it performs image recognition, filtering out images with characteristic values, including signs, floors, and location codes, and annotates these characteristic images into the driving trajectory. When the terminal requests the vehicle's location, the trajectory and image data are provided, indicating the vehicle's trajectory and images for a period of time before it stopped. Based on this information, the vehicle's parking location is determined. Figure 5 This is a flowchart of an optional vehicle positioning method based on location data and image data according to an embodiment of the present invention, such as... Figure 5 As shown, the method includes the following steps:

[0081] Step S51: The cloud filters the photos and removes adjacent images with high similarity.

[0082] In step S52, the cloud integrates the images and image data and labels the feature images (i.e., target image data). The feature images include, but are not limited to, signs, floor numbers, location codes, etc.

[0083] Step S53: The cloud integrates and stores the location data and feature images from the same time.

[0084] Step S54: In response to receiving the terminal's location request, the cloud sends data about a period of time before the vehicle is locked to the terminal.

[0085] Step S55: The terminal draws the vehicle's driving route (i.e., driving trajectory) based on time, location data and image data. The driving trajectory may include, but is not limited to, the length of each segment of the route, the turning angle, and time information. Then, feature images are marked above the driving route according to the time. The images can be enlarged or reduced according to the user's request.

[0086] Step S56, End.

[0087] Figure 6 This is a schematic diagram of an optional vehicle driving trajectory according to an embodiment of the present invention, such as... Figure 6 As shown, the black dots represent the parking positions of the vehicles. It can be seen that the vehicles traveled 100 meters in area B, then traveled 30 meters in area C at an angle of 135 degrees to the horizontal plane, and finally traveled 30 meters in a direction perpendicular to the horizontal plane to reach the parking position in area D. The vehicles were then parked in area D.

[0088] This invention is based on typical connected vehicles and uses software algorithms to calculate parking locations, making it applicable to various venues. Compared to indoor positioning solutions and parking lot image recognition solutions, this solution does not rely on parking lot infrastructure construction; it only requires a software upgrade to the connected vehicle to achieve this function.

[0089] Example 2

[0090] According to another aspect of the present invention, a vehicle location positioning device is also provided. This device can execute the vehicle location positioning method provided in Embodiment 1 above. The specific implementation and preferred application scenarios are the same as those in Embodiment 1 above, and will not be repeated here.

[0091] Figure 7 This is a schematic diagram of a vehicle location positioning device according to an embodiment of the present invention, such as... Figure 7 As shown, the device includes: an acquisition module 72, used to acquire the vehicle's position data during driving and image data of the vehicle in a target state, wherein the position data includes at least one of the following: vehicle positioning data, relative position data, and relative change angle of the vehicle body; the target state includes at least one of the following: engine off state, vehicle locked state, and driving state; the relative position is used to characterize the vehicle's position change relative to the previous cycle; and the relative change angle of the vehicle body is used to characterize the vehicle's change angle relative to the previous cycle; a generation module 74, used to generate the vehicle's driving trajectory based on the position data and image data; and a positioning module 76, used to locate the vehicle's position based on the driving trajectory in response to receiving a target command after the vehicle has stopped.

[0092] Optionally, the acquisition module includes: a first acquisition unit for acquiring vehicle positioning data; a judgment unit for judging the vehicle positioning data to obtain a first judgment result, wherein the first judgment result is used to characterize whether the vehicle positioning data is valid; and a first determination unit for determining the positioning data as location data in response to the first judgment result indicating that the positioning data is valid.

[0093] Optionally, in response to the first judgment result being that the positioning data is invalid, the acquisition module further includes at least one of the following: a second acquisition unit for acquiring relative position data; and a third acquisition unit for acquiring the relative change angle of the vehicle body.

[0094] Optionally, the second acquisition unit includes: a first acquisition subunit for acquiring the angular velocity and wheel speed of the vehicle during driving; and a first analysis subunit for analyzing the angular velocity and wheel speed to obtain relative position data.

[0095] Optionally, the third acquisition unit includes: a second acquisition subunit for acquiring the steering wheel angle of the vehicle during driving; and a second analysis subunit for analyzing the steering wheel angle to obtain the relative change angle of the vehicle body.

[0096] Optionally, the generation module includes: a labeling unit for labeling location data based on a time axis to obtain a preset driving trajectory; a recognition unit for recognizing image data to determine target image data in the image data, wherein the target image data is used to characterize image data containing location features; and a fusion unit for fusing the preset driving trajectory with the target image data to obtain the driving trajectory.

[0097] Optionally, the recognition unit includes: a cleaning subunit for cleaning the image data to obtain cleaned image data; and a recognition subunit for recognizing the cleaned image data to determine the target image data in the cleaned image data.

[0098] Optionally, the device further includes a storage module for storing location data and image data based on a first preset period.

[0099] Optionally, the positioning module includes: a first control unit for controlling the terminal to display a driving trajectory, wherein the driving trajectory includes multiple location data and image data corresponding to the location data; a second control unit for responding to receiving an operation command to execute on the driving trajectory, controlling the terminal to display target location data and target image data corresponding to the target location data in the driving trajectory, wherein the target location data is used to represent the location data selected by the user; and a positioning unit for locating the vehicle position based on the target location data and the target image data.

[0100] Example 3

[0101] According to another aspect of the present invention, a vehicle is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform any of the methods described above.

[0102] Example 4

[0103] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is running, the device on which the computer-readable storage medium is located executes any of the above methods.

[0104] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0105] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0106] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0107] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0108] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0109] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0110] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A positioning method of a vehicle position, characterized by, include: The system acquires vehicle position data during driving and image data of the vehicle in a target state. The position data includes at least one of the following: vehicle positioning data, relative position data, and relative body change angle. The target state includes at least one of the following: engine off, vehicle locked, and driving. The relative position is used to characterize the vehicle's position change relative to the previous cycle, and the relative body change angle is used to characterize the vehicle's body change angle relative to the previous cycle. The positioning data and the image data are acquired by the vehicle's camera and sensors while the vehicle is driving on the road. The relative position data is obtained by analyzing the vehicle's angular velocity and wheel speed during driving, and the relative body change angle is obtained by analyzing the vehicle's steering wheel angle during driving. Based on the location data and the image data, the vehicle's driving trajectory is generated. The driving trajectory is obtained by fusing a preset driving trajectory and target image data from the image data. The target image data is obtained by recognizing the image data and is used to characterize image data containing location features. The preset driving trajectory is obtained by annotating the location data based on a time axis. In response to receiving a target command after the vehicle has stopped, the vehicle's position is located based on the driving trajectory; The method further includes storing the location data and the image data based on a first preset period.

2. The method of claim 1, wherein, Obtaining the location data of the vehicle includes: Obtain the location data of the vehicle; The vehicle's location data is evaluated to obtain a first evaluation result, wherein the first evaluation result is used to characterize whether the vehicle's location data is valid; In response to the first determination result indicating that the positioning data is valid, the positioning data is determined to be the location data.

3. The method of claim 2, wherein, In response to the first determination result indicating that the positioning data is invalid, the location data of the vehicle is obtained, including at least one of the following: Obtain the relative position data; Obtain the relative change angle of the vehicle body.

4. The method of claim 1, wherein, The method further includes: The image data is cleaned to obtain cleaned image data; The cleaned image data is identified to determine the target image data within the cleaned image data.

5. The method according to claim 1, characterized in that, Locating the vehicle's position based on the driving trajectory includes: The control terminal displays the driving trajectory, wherein the driving trajectory includes multiple location data and image data corresponding to the location data; In response to receiving an operation command to be executed on the driving trajectory, the terminal is controlled to display target location data and target image data corresponding to the target location data in the driving trajectory, wherein the target location data is used to represent the location data selected by the user; The vehicle's location is determined based on the target location data and the target image data.

6. A vehicle comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 5.

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