Method and device for positioning vehicles in tunnels, electronic equipment and storage medium

Abstract

The present disclosure provides a method and device for positioning a vehicle in a tunnel, an electronic device and a storage medium, and relates to the technical field of motor vehicle driving training. The method comprises: when the target vehicle passes through the tunnel, acquiring an image of the target vehicle acquired by an image acquisition device, wherein the image of the target vehicle is marked with at least one auxiliary positioning area, and the at least one auxiliary positioning area corresponds to at least one fixed position in the tunnel; based on the image of the target vehicle, extracting vehicle feature information of the target vehicle; based on the vehicle feature information and the auxiliary positioning area, determining the vehicle position information of the target vehicle, so as to improve the accuracy and robustness of vehicle positioning in the tunnel.

Description

Technical Field

[0001] The present disclosure relates to the technical field of motor vehicle driving training, and in particular to a method and device for positioning a vehicle in a tunnel, an electronic device and a storage medium. Background Art

[0002] Tunnel driving is an important part of the motor vehicle driving test. Mastering the correct tunnel driving skills is an important learning content in driving training. However, due to the closed structure and natural terrain of the tunnel, the positioning signals of vehicles driving in the tunnel (such as Global Positioning System (GPS) signals, etc.) often become weak or interrupted, which will cause the trainees to be unable to accurately obtain the vehicle's position and posture information during driving, causing trouble for driving practice.

[0003] In the related technology, the vehicle's instantaneous speed and heading angle are obtained by using sensors mounted on the vehicle, and the vehicle's position is calculated by methods such as vehicle speed integration. The vehicle position determined by this type of method is determined by integration, and the cumulative positioning error increases with time, so only short-term positioning accuracy can be maintained. Considering that during driving training, the instructor needs to accurately understand the trainee's position in order to provide real-time guidance and evaluation and ensure the trainee's personal safety; at the same time, the trainee also needs to know his or her driving performance and then make adjustments and improvements; therefore, there is an urgent need for a method for positioning vehicles in tunnels that is suitable for driving training scenarios. Summary of the invention

[0004] In view of this, the present disclosure provides a method and device for positioning a vehicle in a tunnel, an electronic device and a storage medium to improve the accuracy and robustness of positioning the vehicle in the tunnel.

[0005] In a first aspect, a method for positioning a vehicle in a tunnel is provided, wherein the tunnel includes a plurality of image acquisition devices arranged at intervals, the method comprising: acquiring an image of the target vehicle captured by the image acquisition device during the process of the target vehicle passing through the tunnel, wherein the image of the target vehicle is marked with at least one auxiliary positioning area, and the at least one auxiliary positioning area corresponds to at least one fixed position in the tunnel; extracting vehicle feature information of the target vehicle based on the image of the target vehicle; and determining vehicle position information of the target vehicle based on the vehicle feature information and the auxiliary positioning area.

[0006] In combination with the first aspect, in certain implementations of the first aspect, the vehicle characteristic information includes at least one positioning point information, and based on the vehicle characteristic information and the auxiliary positioning area, the vehicle position information of the target vehicle is determined, including: when it is determined based on the positioning point information that the positioning point falls into the auxiliary positioning area, determining the coordinates of the fixed position in the tunnel corresponding to the auxiliary positioning area; taking the time information when the positioning point falls into the auxiliary positioning area as the first moment; and determining the vehicle position information corresponding to the first moment based on the coordinates of the fixed position.

[0007] In combination with the first aspect, in some implementations of the first aspect, the vehicle feature information includes multiple positioning point information, and the number of auxiliary positioning areas is multiple. Based on the coordinates of the fixed position, determining the vehicle position information corresponding to the first moment includes: determining the number of positioning points included in each auxiliary positioning area respectively; determining the auxiliary positioning area including the largest number of positioning points as the target auxiliary positioning area; and determining the vehicle position information based on the coordinates of the fixed position corresponding to the target auxiliary positioning area.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: respectively acquiring an image corresponding to a second moment and an image corresponding to a third moment acquired by an image acquisition device, the third moment being a moment after the second moment; acquiring vehicle position information corresponding to the second moment, and speed information of the target vehicle at the second moment; determining the yaw angle information of the target vehicle at the second moment based on the image corresponding to the second moment and the image corresponding to the third moment; determining the vehicle position information corresponding to the third moment based on the speed information, the yaw angle information, and the vehicle position information corresponding to the second moment.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: obtaining a positioning signal of the target vehicle, the positioning signal being determined by a positioning device of a global positioning system carried by the target vehicle; determining the positioning signal position information corresponding to a third moment based on the positioning signal; obtaining weights corresponding to the positioning signal position information and the vehicle position information, the weights being determined by the stability of the positioning signal and the credibility of the vehicle position information, the credibility of the vehicle position information being determined by the interval between the third moment and the second moment; and calibrating the vehicle position information corresponding to the third moment based on the weights and the positioning signal position information.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the image captured by the image acquisition device is also marked with a border area, and the border area corresponds to the road border in the tunnel. The method also includes: when the distance between the target vehicle in the image and the border area is less than a first preset safety distance, sending a direction deviation reminder to the target vehicle; and / or, when the distance between the target vehicle in the image and the border area is less than a second preset safety distance, taking safety braking measures for the target vehicle, wherein the second preset safety distance is less than the first preset safety distance.

[0011] In combination with the first aspect, in certain implementations of the first aspect, there are multiple auxiliary positioning areas, and the multiple auxiliary positioning areas are arrayed in the image captured by the image capture device.

[0012] In a second aspect, a positioning device for a vehicle in a tunnel is provided, wherein the tunnel includes a plurality of image acquisition devices arranged at intervals, and the positioning device includes: an acquisition module, used to acquire an image of a target vehicle acquired by the image acquisition device during the process of the target vehicle passing through the tunnel, wherein the image of the target vehicle is marked with at least one auxiliary positioning area, and the at least one auxiliary positioning area corresponds to at least one fixed position in the tunnel; an extraction module, used to extract vehicle feature information of the target vehicle based on the image of the target vehicle; and a determination module, used to determine the vehicle position information of the target vehicle based on the vehicle feature information and the auxiliary positioning area.

[0013] In a third aspect, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the method for positioning a vehicle in a tunnel provided in the first aspect above by executing the executable instructions.

[0014] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for positioning a vehicle in a tunnel provided in the first aspect is implemented.

[0015] The method for positioning a vehicle in a tunnel provided by an embodiment of the present disclosure pre-marks an auxiliary positioning area in the images captured by multiple image capture devices in the tunnel, so that the auxiliary positioning area corresponds to a fixed position in the tunnel. When the image of the target vehicle appears in the auxiliary positioning area, the actual position of the target vehicle in the tunnel can be determined based on the fixed position in the tunnel corresponding to the auxiliary positioning area, so as to improve the accuracy and robustness of vehicle positioning in the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a schematic diagram of an application scenario of a method for positioning a vehicle in a tunnel provided by an exemplary embodiment of the present disclosure.

[0017] Figure 2 The figure is a schematic flow chart of a method for positioning a vehicle in a tunnel provided by an embodiment of the present disclosure.

[0018] Figure 3 The figure is a flow chart of the steps of determining the vehicle location information of the target vehicle based on the vehicle feature information and the auxiliary positioning area provided by one embodiment of the present disclosure.

[0019] Figure 4 The figure is a flow chart of the steps of determining the vehicle position information corresponding to the first moment based on the coordinates of a fixed position provided by an embodiment of the present disclosure.

[0020] Figure 5 Shown is a schematic diagram of an image of a target vehicle provided by an embodiment of the present disclosure.

[0021] Figure 6 Shown is a schematic diagram of an image of a target vehicle provided by another embodiment of the present disclosure.

[0022] Figure 7 Shown is a schematic flow chart of a method for positioning a vehicle in a tunnel provided by another embodiment of the present disclosure.

[0023] Figure 8 Shown is a schematic flow chart of a method for positioning a vehicle in a tunnel provided in yet another embodiment of the present disclosure.

[0024] Figure 9a , 9b Shown are flow charts of a method for positioning a vehicle in a tunnel provided in yet another embodiment of the present disclosure.

[0025] Fig.10 Shown is a schematic structural diagram of a positioning device for a vehicle in a tunnel provided by an embodiment of the present disclosure.

[0026] Fig.11 Shown is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0028] As mentioned above, tunnel driving is an important part of the motor vehicle driving test. Tunnel driving requires students to drive the car safely and smoothly in a simulated or actual tunnel environment to test their driving skills and adaptability under special road conditions. The key and difficulty of tunnel driving is to cultivate the driver's driving skills in special environments with insufficient light and limited vision. Therefore, during the practice process, learning in a real tunnel environment can achieve better learning results.

[0029] However, the GPS signal of vehicles in the tunnel is affected by the environment, which may cause signal weakening, drift, multipath effect and other problems. For example, due to the closed structure of the tunnel and environmental factors such as the surrounding mountains and buildings, the GPS signal strength of vehicles in the tunnel is reduced; at the same time, due to the space limitations in the tunnel, the GPS signal may be reflected and refracted by the tunnel wall and obstacles during the propagation process, resulting in changes in the signal propagation path, affecting the signal quality, and thus causing a decrease in the positioning accuracy of the vehicle.

[0030] In view of the above technical problems, the present disclosure provides a method for positioning a vehicle in a tunnel, comprising: in the process of the target vehicle passing through the tunnel, obtaining an image of the target vehicle captured by an image acquisition device, wherein at least one auxiliary positioning area is marked in the image of the target vehicle, and the at least one auxiliary positioning area corresponds to at least one fixed position in the tunnel; based on the image of the target vehicle, extracting vehicle feature information of the target vehicle; based on the vehicle feature information and the auxiliary positioning area, determining the vehicle position information of the target vehicle, so as to improve the accuracy and robustness of vehicle positioning in the tunnel.

[0031] Figure 1 FIG. 1 is a schematic diagram showing an application scenario of a method for positioning a vehicle in a tunnel provided by an exemplary embodiment of the present disclosure. Figure 1 As shown, the implementation environment includes a tunnel 110 , a target vehicle 120 , and a server 130 .

[0032] A plurality of image acquisition devices 111 are arranged at intervals in the tunnel 110. The image acquisition devices 111 may be devices such as high-definition cameras. The image acquisition devices 111 may be arranged at an upper position inside the tunnel 110. During the installation process, the position, installation angle, and field of view of the camera need to be fully considered so that the image acquisition device 111 can capture visual information of the target vehicle 120 in the tunnel 110. The image acquisition device 111 is used to acquire images in the tunnel. Under normal circumstances, the field of view of the image acquisition device 111 is fixed; when the trainee drives the target vehicle 120 through the field of view of the image acquisition device 111, the image acquired by the image acquisition device 111 includes image information of the target vehicle 120.

[0033] In some embodiments, the image acquisition devices 111 may be evenly distributed at certain distance intervals (e.g., 20 meters) so that the field of view of the image acquisition devices 111 fully covers the driving area of ​​the target vehicle 120 in the tunnel, so that the instructor can accurately grasp the position and driving conditions of the target vehicle 120, and then provide real-time guidance and evaluation to the trainees, and ensure the personal safety of the trainees; at the same time, the complete driving trajectory of the target vehicle 120 in the tunnel can also be recorded, so that the trainees can understand their driving performance, fully grasp their own learning progress, and timely adjust and improve errors in practice.

[0034] The server 130 may be an independent physical server or a cloud server capable of cloud computing, or the server 130 may be integrated into the target vehicle 120. The server 130 is connected to the image acquisition device 111 by signal, and is capable of receiving images acquired by the image acquisition device 111, and determining the location information of the target vehicle 120 via the environmental information included in the image and the image information of the target vehicle 120.

[0035] The server 130 is connected to the target vehicle 120 by signals. When the server 130 determines that the driving trajectory of the target vehicle 120 does not meet the requirements of the motor vehicle driving test (such as the driving trajectory deviates from the reasonable path range) based on the position information of the target vehicle 120 or the image captured by the image acquisition device 111, or when the target vehicle 120 is too close to the road sideline and causes a safety hazard, the server 130 can send a corresponding direction deviation reminder to the target vehicle 120, or cause the target vehicle 120 to trigger a safe braking operation to ensure the safety of the vehicle.

[0036] The target vehicle 120 may include an output device such as a vehicle-mounted terminal, which is used to receive and output the direction deviation reminder sent by the server 130. In addition, the output device can also receive and output the real-time guidance of the trainee by the coach.

[0037] The method for positioning a vehicle in a tunnel provided by an embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0038] Figure 2 FIG. 2 is a flow chart of a method for positioning a vehicle in a tunnel provided by an embodiment of the present disclosure. Figure 2 As shown, the method for positioning a vehicle in a tunnel provided in an embodiment of the present disclosure includes the following steps.

[0039] S210, when the target vehicle passes through the tunnel, an image of the target vehicle captured by an image capture device is acquired.

[0040] Considering that in driving training scenarios, driving schools usually have fixed training grounds for students to conduct specific skill training, therefore, multiple image acquisition devices with intervals can be pre-installed in the tunnel for tunnel driving training; at the same time, the image acquisition device can be pre-set accordingly according to the road conditions in the tunnel and the installation position and orientation of the image acquisition device, so that at least one auxiliary positioning area is marked in the image captured by the image acquisition device. When the target vehicle enters the field of view of a certain image acquisition device, the image acquisition device can capture the image of the target vehicle.

[0041] After the image acquisition device is installed, the field of view of the image acquisition device remains fixed. The image acquired by the image acquisition device corresponds to a specific area in the tunnel, and the position of the auxiliary positioning area in the image is also fixed. Therefore, at least one auxiliary positioning area pre-marked in the image always corresponds to at least one fixed position in the tunnel.

[0042] The number of auxiliary positioning areas and the positions of the auxiliary positioning areas in the image can be determined and designed according to factors such as the road conditions in the tunnel and the respective field of view of the image acquisition devices, and the present disclosure does not impose specific restrictions on this. For example, the auxiliary positioning areas can be marked in the images captured by each image acquisition device; or, according to the distribution of the image acquisition devices and the respective field of view of the image acquisition devices, some image acquisition devices can be selected from multiple image acquisition devices, and the auxiliary positioning areas can be marked in the images captured by the selected part of the image acquisition devices. In addition, one auxiliary positioning area can be marked in the image captured by one image acquisition device. Alternatively, multiple auxiliary positioning areas can also be marked in the image captured by one image acquisition device at the same time, and the multiple auxiliary positioning areas can be spaced apart from each other, and accordingly, the fixed positions in the tunnel corresponding to the multiple auxiliary positioning areas are also spaced apart from each other; or, the multiple auxiliary positioning areas can partially overlap, and accordingly, the fixed positions in the tunnel corresponding to the multiple auxiliary positioning areas are also partially overlapped.

[0043] S220, extracting vehicle feature information of the target vehicle based on the image of the target vehicle.

[0044] The vehicle feature information of the target vehicle includes the corner points, lines and wheel positions of the target vehicle, etc. The vehicle feature information can reflect the position of the target vehicle in the image.

[0045] Exemplarily, vehicle feature information can be extracted by a Scale-Invariant Feature Transform (SIFT) feature point detection algorithm. The SIFT algorithm can achieve reliable matching for objects or scenes under different viewing angles, and the features extracted by the algorithm are invariant to the scale change and rotation of the target image. Affected by the installation position and height of the image acquisition device, the vehicles in the images acquired by the image acquisition devices are subject to different degrees of angular tilt or distortion; at the same time, due to the lack of driving experience of the trainees in the tunnel, the target vehicle may also deviate from the normal driving direction during driving. When the target vehicle enters the field of view of the image acquisition device from different directions, the image of the target vehicle will also change accordingly. Therefore, for images of target vehicles of different scales and angles, the SIFT algorithm can accurately extract the vehicle feature information of the target vehicle in the image, thereby improving the robustness of the method provided by the embodiment of the present disclosure; and accurate vehicle feature information helps to establish a correspondence between multiple images of target vehicles, thereby improving the accuracy of vehicle positioning.

[0046] S230, determining the vehicle position information of the target vehicle based on the vehicle feature information and the auxiliary positioning area.

[0047] Since the auxiliary positioning area corresponds to a fixed position in the tunnel, when the image of the target vehicle captured by the image acquisition device appears in the auxiliary positioning area in the image, it means that the target vehicle has passed the fixed position in the tunnel corresponding to the auxiliary positioning area. Therefore, the actual position of the target vehicle in the tunnel at the current moment can be further inferred.

[0048] The vehicle characteristic information can reflect the position of the target vehicle in the image. Therefore, when the target vehicle is identified to appear in the auxiliary positioning area based on the vehicle characteristic information, the vehicle position information of the target vehicle can be determined. The vehicle position information can reflect the actual position of the target vehicle in the tunnel. For example, the vehicle position information may include the position coordinates of the target vehicle.

[0049] Furthermore, by sequentially connecting the positions of the target vehicle at multiple times, the driving trajectory of the target vehicle in the tunnel can be obtained. Based on the driving trajectory, targeted teaching can be provided to the students to improve learning efficiency.

[0050] In the disclosed embodiment, an auxiliary positioning area is pre-marked in the images captured by multiple image acquisition devices in the tunnel so that the auxiliary positioning area corresponds to a fixed position in the tunnel. When the image of the target vehicle appears in the auxiliary positioning area, the actual position of the target vehicle in the tunnel can be determined based on the fixed position in the tunnel corresponding to the auxiliary positioning area, so as to improve the accuracy and robustness of vehicle positioning in the tunnel.

[0051] In the above embodiment, a specific implementation method of a method for positioning a vehicle in a tunnel is introduced. Figure 3 It further introduces how to determine the actual position of the target vehicle based on vehicle feature information and auxiliary positioning area.

[0052] Figure 3 FIG. 1 is a flow chart of the steps of determining the vehicle location information of a target vehicle based on vehicle feature information and auxiliary positioning area provided by an embodiment of the present disclosure. Figure 3 As shown, the step of determining the vehicle position information of the target vehicle based on the vehicle feature information and the auxiliary positioning area provided in the embodiment of the present disclosure includes the following steps.

[0053] S231: When it is determined based on the positioning point information that the positioning point falls into the auxiliary positioning area, the coordinates of the fixed position in the tunnel corresponding to the auxiliary positioning area are determined.

[0054] The vehicle feature information includes at least one positioning point information. The positioning point is a specific position on the body of the target vehicle, and the positioning point information can characterize the position of the positioning point of the target vehicle in the image. For example, the feature point corresponding to the front of the target vehicle or the left rearview mirror can be used as the positioning point of the target vehicle.

[0055] When the target vehicle passes through the field of view of the image acquisition device, the positioning point of the target vehicle falls into the auxiliary positioning area in the image. At this time, the coordinates of the fixed position in the tunnel corresponding to the auxiliary positioning area are determined. Specifically, the auxiliary positioning area corresponds to a fixed position in the tunnel, so the actual coordinates of the fixed position can be determined in advance, and the corresponding relationship between the auxiliary positioning area and the position coordinates is established.

[0056] It can be understood that the auxiliary positioning area should correspond to a partial area in the tunnel, and the partial area includes multiple position coordinates; therefore, the position coordinates of any point in the area in the tunnel can be used as the position coordinates corresponding to the auxiliary positioning area; or, the position coordinates of the center point of the area in the tunnel can be used as the position coordinates corresponding to the auxiliary positioning area.

[0057] S232: The time information when the positioning point falls into the auxiliary positioning area is taken as the first moment.

[0058] When it is determined based on the positioning point information that the positioning point falls into the auxiliary positioning area, the current time information is determined, and the current time is used as the first moment.

[0059] S233: Determine the vehicle position information corresponding to the first moment based on the coordinates of the fixed position.

[0060] In the above steps, the time when the target vehicle passes the fixed position in the tunnel corresponding to the auxiliary positioning area and the coordinates of the fixed position are determined respectively, that is, the target vehicle passes the fixed position in the tunnel at the first moment. Therefore, the vehicle position information corresponding to the first moment can be determined based on the coordinates of the fixed position.

[0061] In the disclosed embodiment, the positioning point information of the target vehicle is determined by the vehicle characteristic information, and based on the positioning point information, it is determined whether the positioning point of the target vehicle falls into the auxiliary positioning area; when the positioning point of the target vehicle falls into the auxiliary positioning area, the coordinates of the current time and the fixed position in the tunnel corresponding to the auxiliary positioning area are determined respectively to determine the vehicle position information corresponding to the first moment. In this way, the position of the target vehicle at the first moment can be determined simply and accurately.

[0062] In the above embodiments, the vehicle feature information may include one or more positioning point information, and each positioning point information corresponds to a positioning point. At the same time, one or more auxiliary positioning areas may be marked in an image captured by an image capture device.

[0063] In some embodiments, the number of the positioning point information and the auxiliary positioning area is one. At this time, when the positioning point falls into the auxiliary positioning area, the vehicle position information of the target vehicle can be determined.

[0064] In some embodiments, the number of positioning point information is one, and the number of auxiliary positioning areas is multiple. In this case, if the positioning point falls into one of the multiple auxiliary positioning areas, the position coordinates corresponding to the auxiliary positioning area are determined, and the vehicle position information of the target vehicle is determined based on the position coordinates. If the positioning point falls into multiple auxiliary positioning areas in sequence, the position coordinates corresponding to the multiple auxiliary positioning areas are determined respectively, and the vehicle position information of the target vehicle corresponding to multiple time points is determined.

[0065] In some embodiments, the number of positioning point information is multiple, and the number of auxiliary positioning areas is one. In this case, the validity of the auxiliary positioning area can be judged based on the number of positioning points included in the auxiliary positioning area. When the number of positioning points falling into the auxiliary positioning area is greater than the effective threshold, it is considered that the target vehicle appears in the auxiliary positioning area, and then the vehicle position information of the target vehicle is determined. The effective threshold can be set according to the actual situation.

[0066] In some embodiments, there are multiple positioning point information and auxiliary positioning areas. At the same moment, multiple positioning points of the target vehicle may fall into multiple auxiliary positioning areas respectively, and each auxiliary positioning area includes some positioning points. At this time, if the position coordinates corresponding to the multiple auxiliary positioning areas are all determined as the vehicle position information of the target vehicle at the first moment, it will cause a conflict in the position of the target vehicle; at the same moment, the target vehicle appears at multiple coordinate positions, which is not conducive to establishing the corresponding relationship between the positions of the target vehicle at different times, and further not conducive to establishing the driving path of the target vehicle in the tunnel. The following is combined with Figure 4 , Figure 5 In this case, how to determine the vehicle position information of the target vehicle is introduced in detail. Figure 4 The figure is a flow chart of the steps of determining the vehicle position information corresponding to the first moment based on the coordinates of a fixed position provided by an embodiment of the present disclosure. Figure 5 Shown is a schematic diagram of an image of a target vehicle provided by an embodiment of the present disclosure.

[0067] like Figure 4 As shown, the step of determining the vehicle position information corresponding to the first moment based on the coordinates of the fixed position provided in the embodiment of the present disclosure includes the following steps.

[0068] S2331, respectively determine the number of positioning points included in each auxiliary positioning area.

[0069] As described above, in an image captured by the image acquisition device, multiple positioning points of the target vehicle may fall into multiple auxiliary positioning areas respectively. Figure 5 As shown, the image of the target vehicle is marked with auxiliary positioning area 510, auxiliary positioning area 520, and auxiliary positioning area 530, and point A, point B, and point C are the positioning points of the target vehicle respectively. Point A and point B fall into the auxiliary positioning area 510, and point C falls into the auxiliary positioning area 520. It can be understood that the number and marked positions of the auxiliary positioning areas and positioning points are all schematic and should not be understood as limiting the present disclosure.

[0070] At this time, the number of positioning points included in each auxiliary positioning area is determined respectively. Figure 5 , the number of positioning points included in the auxiliary positioning area 510 is 2, the number of positioning points included in the auxiliary positioning area 520 is 1, and the number of positioning points included in the auxiliary positioning area 530 is 0.

[0071] S2332: Determine the auxiliary positioning area including the largest number of positioning points as the target auxiliary positioning area.

[0072] Continue to refer Figure 5The number of positioning points included in the auxiliary positioning area 510 is greater than that in the auxiliary positioning area 520 and the auxiliary positioning area 530. Therefore, the auxiliary positioning area 510 can be determined as the target auxiliary positioning area.

[0073] S2333, determining the vehicle position information based on the coordinates of the fixed position corresponding to the target auxiliary positioning area.

[0074] Most of the positioning points of the target vehicle fall into the target auxiliary positioning area, so it can be considered that at the current moment, the target vehicle is located at a fixed position in the tunnel corresponding to the target auxiliary positioning area. Further, the vehicle position information corresponding to the first moment can be determined based on the coordinates of the fixed position corresponding to the target auxiliary positioning area.

[0075] In the disclosed embodiment, multiple auxiliary positioning areas are marked in the image, and the position coordinates corresponding to each auxiliary positioning area are different. Therefore, when the target vehicle passes through the field of view of the image acquisition device, the vehicle position information of the target vehicle at the current moment can be more accurately determined based on the position coordinates corresponding to the auxiliary positioning area where the positioning point of the target vehicle falls. At the same time, the image of the target vehicle includes multiple positioning points. By determining the auxiliary positioning area including the largest number of positioning points as the target auxiliary positioning area, the position of the target vehicle at the current moment is further clarified to improve the accuracy of vehicle positioning in the tunnel.

[0076] In some embodiments, a plurality of auxiliary positioning area arrays are arranged in the image captured by the image acquisition device to obtain more accurate vehicle position information.

[0077] by Figure 5 Taking the embodiment shown as an example, the auxiliary positioning area 510, the auxiliary positioning area 520, and the auxiliary positioning area 530 are arranged in an array in the image. When the positioning point of the target vehicle falls into the auxiliary positioning area 510, it means that the current driving position of the target vehicle is biased to the left; when the positioning point of the target vehicle falls into the auxiliary positioning area 520, it means that the current driving position of the target vehicle is centered; when the positioning point of the target vehicle falls into the auxiliary positioning area 530, it means that the current driving position of the target vehicle is biased to the right.

[0078] In the disclosed embodiment, the position of the target vehicle relative to the lane can be determined based on the three parallel auxiliary positioning areas, and then whether the target vehicle is located in the correct position of the lane can be determined. At the same time, combined with the vehicle position information of the target vehicle at the historical moment, the driving trajectory of the target vehicle can be understood, and further determination can be made whether the target vehicle deviates from the normal driving direction, which helps the instructor to provide real-time guidance and reminders, and improve the learning efficiency of the trainees.

[0079] In other embodiments, the image may be evenly divided into nine regions, and each region may be marked as an auxiliary positioning region, so as to further improve the accuracy of positioning.

[0080] For example, Figure 6 As shown, nine auxiliary positioning areas are arranged in an array. In the multiple images captured by the image acquisition device, the target vehicle passes through the auxiliary positioning area 610, the auxiliary positioning area 620, the auxiliary positioning area 630, and the auxiliary positioning area 640 in sequence. At this time, the position coordinates corresponding to the auxiliary positioning area 610, the auxiliary positioning area 620, the auxiliary positioning area 630, and the auxiliary positioning area 640 can be respectively determined as the vehicle position information of the target vehicle.

[0081] Figure 7 FIG. 2 is a flow chart of a method for positioning a vehicle in a tunnel provided by another embodiment of the present disclosure. Figure 7 As shown, the method for positioning a vehicle in a tunnel provided in the embodiment of the present disclosure also includes the following steps.

[0082] S710, respectively acquiring an image corresponding to the second moment and an image corresponding to the third moment acquired by an image acquisition device.

[0083] The third moment is a moment after the second moment. The target vehicle should be included in both the image corresponding to the second moment and the image corresponding to the third moment. Based on the difference in the position of the target vehicle in the image corresponding to the second moment and the image corresponding to the third moment, the movement of the target vehicle in the time interval between the second moment and the third moment can be reflected.

[0084] S720, obtaining the vehicle position information corresponding to the second moment and the speed information of the target vehicle at the second moment.

[0085] The vehicle position information corresponding to the second moment can be determined based on the positioning method provided in the above embodiment. For example, at the second moment, the target vehicle appears in the auxiliary positioning area marked in the image, so the position coordinates corresponding to the auxiliary positioning area can be determined as the position of the target vehicle at the second moment.

[0086] The speed information of the target vehicle at the second moment may be determined by a sensor carried by the target vehicle.

[0087] S730: Determine the yaw angle information of the target vehicle at the second moment based on the image corresponding to the second moment and the image corresponding to the third moment.

[0088] If the coordinates of the target vehicle in the image corresponding to the second moment are (x t ,y t ), the coordinates of the target vehicle in the image corresponding to the third moment are (x t+1 ,yt+1 ), then the yaw angle θ of the target vehicle at the second moment can be determined t =atan2(y t+1 -y t ,x t+1 -x t ). Among them, (x t ,y t )、(x t+1 ,y t+1 ) are the coordinates of the target vehicle in the image, rather than the position coordinates of the target vehicle in the tunnel; t+1 represents the third moment, t represents the second moment; θ t represents the yaw angle at the second moment; atan2 represents the inverse tangent function.

[0089] S740, determining the vehicle position information corresponding to the third moment based on the speed information, the yaw angle information, and the vehicle position information corresponding to the second moment.

[0090] After determining the speed information and yaw angle information of the target vehicle at the second moment and the time interval between the second moment and the third moment, the change of the position coordinates of the target vehicle in the tunnel during the time interval can be determined, which can be expressed by the following formula.

[0091] ΔX=V t *Δt*cos(θ t )

[0092] ΔY=V t *Δt*sin(θ t )

[0093] Where ΔX and ΔY are the change components of the position coordinate change of the target vehicle in the X direction and the Y direction respectively; V t represents the speed information of the target vehicle at the second moment; Δt represents the time interval between the second moment and the third moment, and the interval duration can be set according to actual conditions, and for example, can be 100 milliseconds.

[0094] By adding the above position coordinate changes to the position coordinates of the target vehicle at the second moment, the position coordinates of the target vehicle at the third moment can be obtained, and then the vehicle position information corresponding to the third moment can be determined. Specifically, it can be expressed by the following formula.

[0095] X t+1 =X t +ΔX

[0096] Y t+1 =Y t +ΔY

[0097] Among them, (X t ,Yt ) represents the position coordinates of the target vehicle at the second moment; (X t+1 ,Y t+1 ) represents the position coordinates of the target vehicle at the third moment.

[0098] In the disclosed embodiment, the vehicle position information of the target vehicle can be determined by the target vehicle speed and yaw angle information. As described in the background technology, the method of calculating the vehicle position by integrating the vehicle speed in the related art increases its cumulative error with the increase of time, so it can only maintain short-term positioning accuracy. In the method provided by the disclosed embodiment, the vehicle position information of the target vehicle determined by the auxiliary positioning area can be considered to be accurate. Therefore, in the process of the target vehicle passing through multiple auxiliary positioning areas in sequence, the multiple auxiliary positioning areas can calibrate the driving trajectory of the target vehicle respectively, avoid cumulative errors, and improve the accuracy of positioning. At the same time, combined with the speed and yaw angle information of the target vehicle, the vehicle position information of the target vehicle at different times can be enriched, so that the instructor and the trainee can master the driving trajectory of the target vehicle.

[0099] In the above embodiments, the vehicle position information of the target vehicle can be calibrated based on the auxiliary positioning area to improve the accuracy of positioning. In some embodiments, the vehicle position information can also be calibrated in combination with the positioning signal of the target vehicle, such as Figure 8 As shown, the method for positioning a vehicle in a tunnel provided in the embodiment of the present disclosure also includes the following steps.

[0100] S810, obtaining a positioning signal of a target vehicle.

[0101] The positioning signal of the target vehicle can be determined by a positioning device of a global positioning system (GPS) carried by the target vehicle. The GPS positioning device can be installed at a front windshield, front bumper, etc. of the target vehicle, and the present disclosure does not impose any specific restrictions on this.

[0102] S820: Determine the positioning signal position information corresponding to the third moment based on the positioning signal.

[0103] The positioning signal of the target vehicle in the tunnel is unstable, so the positioning signal can be preprocessed first. Specifically, the sliding window average can be used to eliminate the sudden drift and noise of the positioning signal.

[0104] Next, the positioning signal position information corresponding to the third moment can be determined based on the positioning signal. The positioning signal position information corresponding to the third moment represents the position of the target vehicle at the third moment determined by the positioning signal.

[0105] S830, obtaining weights corresponding to the positioning signal position information and the vehicle position information.

[0106] The weights corresponding to the positioning signal position information and the vehicle position information may be determined by the stability of the positioning signal and the credibility of the vehicle position information.

[0107] The stability of the positioning signal can be determined by factors such as the signal strength and data continuity of the positioning signal.

[0108] The credibility of the vehicle position information can be determined by the interval between the third moment and the second moment. Specifically, the vehicle position information corresponding to the third moment is calculated by the vehicle speed and yaw angle information, and its cumulative error increases with time; therefore, the longer the interval between the third moment and the second moment, the greater the cumulative error, and the lower the credibility of the vehicle position information.

[0109] S840: Calibrate the vehicle position information corresponding to the third moment based on the weight and the positioning signal position information.

[0110] After determining the weights corresponding to the positioning signal position information and the vehicle position information, the vehicle position information can be calibrated based on the positioning signal position information to obtain more accurate vehicle position information corresponding to the third moment.

[0111] Exemplarily, a weighted sum may be performed on the positioning signal position information and the vehicle position information, and the calculation result may be used as the calibrated vehicle position information.

[0112] In the disclosed embodiment, the credibility of the vehicle position information is determined by the interval between the third moment and the second moment, and the weights corresponding to the positioning signal position information and the vehicle position information are further determined. Based on the weights and the positioning signal position information, the accuracy of vehicle positioning in the tunnel is further improved.

[0113] After obtaining the precise position of the target vehicle, the instructor can accurately understand the position of the trainee. When the target vehicle is too close to the roadside or the inner wall of the tunnel, or the driving direction of the target vehicle deviates from the normal driving direction, the instructor can use the communication device in the target vehicle to remind the trainee to adjust the driving direction in time to avoid safety hazards. In addition, the disclosed embodiment also provides a method for locating vehicles in a tunnel, which can automatically remind the trainee to adjust the driving direction when the trainee faces safety hazards, thereby improving driving safety.

[0114] Figure 9a , 9b 1 and 2 are flow charts of a method for locating a vehicle in a tunnel provided by another embodiment of the present disclosure. Figure 9a , 9b As shown, the method for positioning a vehicle in a tunnel provided in the embodiment of the present disclosure also includes the following steps.

[0115] S910: When the distance between the target vehicle in the image and the sideline area is less than a first preset safety distance, a direction deviation reminder is sent to the target vehicle.

[0116] In the image captured by the image acquisition device, in addition to the auxiliary positioning area, a sideline area is also marked. The sideline area corresponds to the road sideline in the tunnel. When the target vehicle is too close to the sideline area, it means that the target vehicle should adjust its driving direction to ensure driving safety.

[0117] Continue to refer Figure 6 , the dotted line framed area in the figure is the sideline area 650, and the arrow direction in the figure is the driving direction of the target vehicle. When the target vehicle passes through the auxiliary positioning area 610, the auxiliary positioning area 620, the auxiliary positioning area 630, and the auxiliary positioning area 640 in sequence, it can be observed that the driving path of the target vehicle deviates, and the driving direction of the target vehicle shifts to the right and gradually approaches the sideline area 650. If the target vehicle continues to drive in the current driving direction, it may drive into the wrong lane. At this time, the target vehicle should adjust its driving direction in time.

[0118] Specifically, when the distance between the target vehicle and the sideline area is less than the first preset safety distance, a direction deviation reminder is sent to the target vehicle. The first preset safety distance can be determined according to the actual conditions such as the road conditions in the tunnel and the width of the lane. The direction deviation reminder can remind the trainee to adjust the driving direction of the target vehicle in time.

[0119] S920: When the distance between the target vehicle in the image and the edge area is less than a second preset safety distance, take safety braking measures for the target vehicle.

[0120] When the distance between the target vehicle and the sideline area is less than the second preset safety distance, if the target vehicle continues to travel in the current driving direction, it will cause serious safety hazards. For example, if the sideline area is close to the inner wall of the tunnel, there may be a safety hazard of collision between the target vehicle and the inner wall of the tunnel, thereby threatening the personal safety of the trainees. At this time, when the distance between the target vehicle and the sideline area is less than the second preset safety distance, safety braking measures should be taken for the target vehicle to improve driving safety.

[0121] In this step, the second preset safety distance is smaller than the first preset safety distance, and the second preset safety distance can be determined according to the actual conditions such as the road conditions in the tunnel and the width of the lane. When the target vehicle's driving direction deviates from the normal driving direction, a direction deviation reminder is first sent to the trainee to remind the trainee to adjust the driving direction by himself; if the trainee's attempt to adjust the driving direction fails to return the target vehicle to the normal driving direction, and the target vehicle further approaches the road sideline, safety braking measures are taken for the target vehicle to improve driving safety.

[0122] Combination of the above Figure 1 9 to 9, the method embodiment of the present disclosure is described in detail. Fig.10 The device embodiment of the present disclosure is described in detail. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment, so the parts not described in detail can refer to the previous method embodiment.

[0123] Fig.10 FIG. 1 is a schematic diagram of a vehicle positioning device in a tunnel provided by an embodiment of the present disclosure. Fig.10 As shown, the positioning device 1000 for a vehicle in a tunnel according to an embodiment of the present disclosure includes: an acquisition module 1010 , an extraction module 1020 and a determination module 1030 .

[0124] Specifically, the acquisition module 1010 is used to acquire an image of the target vehicle captured by the image acquisition device during the process of the target vehicle passing through the tunnel, wherein the image of the target vehicle is marked with at least one auxiliary positioning area, and the at least one auxiliary positioning area corresponds to at least one fixed position in the tunnel; the extraction module 1020 is used to extract vehicle feature information of the target vehicle based on the image of the target vehicle; the determination module 1030 is used to determine the vehicle position information of the target vehicle based on the vehicle feature information and the auxiliary positioning area.

[0125] In some embodiments, the vehicle characteristic information includes at least one positioning point information. The determination module 1030 is further used to, when it is determined based on the positioning point information that the positioning point falls into the auxiliary positioning area, determine the coordinates of the fixed position in the tunnel corresponding to the auxiliary positioning area; use the time information when the positioning point falls into the auxiliary positioning area as the first moment; and determine the vehicle position information corresponding to the first moment based on the coordinates of the fixed position.

[0126] In some embodiments, the vehicle feature information includes multiple positioning point information, and the number of auxiliary positioning areas is multiple. The determination module 1030 is also used to respectively determine the number of positioning points included in each auxiliary positioning area; determine the auxiliary positioning area including the largest number of positioning points as the target auxiliary positioning area; and determine the vehicle position information based on the coordinates of the fixed position corresponding to the target auxiliary positioning area.

[0127] In some embodiments, the positioning device 1000 also includes a positioning module, which is used to respectively obtain an image corresponding to the second moment and an image corresponding to the third moment captured by the image acquisition device, where the third moment is a moment after the second moment; obtain the vehicle position information corresponding to the second moment, and the speed information of the target vehicle at the second moment; determine the yaw angle information of the target vehicle at the second moment based on the image corresponding to the second moment and the image corresponding to the third moment; determine the vehicle position information corresponding to the third moment based on the speed information, the yaw angle information, and the vehicle position information corresponding to the second moment.

[0128] In some embodiments, the positioning device 1000 also includes a calibration module for acquiring a positioning signal of a target vehicle, the positioning signal being determined by a positioning device of a global positioning system carried by the target vehicle; determining the positioning signal position information corresponding to a third moment based on the positioning signal; acquiring weights corresponding to the positioning signal position information and the vehicle position information, the weights being determined by the stability of the positioning signal and the credibility of the vehicle position information, the credibility of the vehicle position information being determined by the interval between the third moment and the second moment; and calibrating the vehicle position information corresponding to the third moment based on the weights and the positioning signal position information.

[0129] In some embodiments, the image captured by the image acquisition device is also marked with a border area, and the border area corresponds to the road border in the tunnel. The positioning device 1000 also includes a reminder module, which is used to send a direction deviation reminder to the target vehicle when the distance between the target vehicle in the image and the border area is less than a first preset safety distance; and / or, when the distance between the target vehicle in the image and the border area is less than a second preset safety distance, take safety braking measures for the target vehicle, wherein the second preset safety distance is less than the first preset safety distance.

[0130] In some embodiments, there are multiple auxiliary positioning areas, and the multiple auxiliary positioning areas are arranged in an array in the image captured by the image capture device.

[0131] Below, reference Fig.11 An electronic device according to an embodiment of the present disclosure is described. Fig.11 FIG. 1 is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure. Fig.11 As shown, electronic device 1100 includes one or more processors 1110 and memory 1120 .

[0132] The processor 1110 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 110 to perform desired functions.

[0133] The memory 1120 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 1110 may execute the program instructions to implement the above-described method for positioning a vehicle in a tunnel of each embodiment of the present disclosure and / or other desired functions.

[0134] In some embodiments, the electronic device 1100 may further include: an input device 1130 and an output device 1140 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0135] The input device 1130 may include, for example, a touch screen, a microphone, a keyboard, a mouse, and the like.

[0136] The output device 1140 can output to the outside a direction deviation reminder, vehicle position information of the target vehicle, etc. The output device 1140 can include, for example, a display, a communication network and a remote output device connected thereto, and the like.

[0137] Of course, to simplify, Fig.11 Only some of the components related to the present disclosure in the electronic device 1100 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application scenarios, the electronic device 1100 may also include any other appropriate components.

[0138] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method for positioning a vehicle in a tunnel according to various embodiments of the present disclosure described above in this specification.

[0139] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0140] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enables the processor to execute the steps of the method for positioning a vehicle in a tunnel according to various embodiments of the present disclosure described above in this specification.

[0141] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0142] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0143] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0144] It should also be noted that in the system, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0145] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0146] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for positioning a vehicle in a tunnel, characterized in that: The tunnel includes a plurality of image acquisition devices arranged at intervals, and images acquired by the image acquisition devices are pre-marked with at least one auxiliary positioning area, and the auxiliary positioning area corresponds to the coordinates of a fixed position in the tunnel. The method includes: When the target vehicle passes through the tunnel, an image of the target vehicle captured by the image acquisition device is acquired, wherein at least one auxiliary positioning area is marked in the image of the target vehicle, and the at least one auxiliary positioning area corresponds to at least one fixed position in the tunnel; Based on the image of the target vehicle, extracting vehicle feature information of the target vehicle; Determining the vehicle position information of the target vehicle based on the vehicle characteristic information and the auxiliary positioning area; Respectively acquiring an image corresponding to a second moment and an image corresponding to a third moment acquired by the image acquisition device, wherein the third moment is a moment after the second moment; Acquire the vehicle position information corresponding to the second moment, and the speed information of the target vehicle at the second moment, where the speed information of the target vehicle at the second moment is determined by a sensor carried by the target vehicle; Determining the yaw angle information of the target vehicle at the second moment based on the image corresponding to the second moment and the image corresponding to the third moment; Determine the vehicle position information corresponding to the third moment based on the speed information, the yaw angle information, and the vehicle position information corresponding to the second moment; Acquire a positioning signal of the target vehicle, the positioning signal being determined by a positioning device of a global positioning system carried by the target vehicle; Based on the positioning signal, determining the positioning signal position information corresponding to the third moment; Obtaining weights corresponding to the positioning signal position information and the vehicle position information, wherein the weights are determined by the stability of the positioning signal and the credibility of the vehicle position information, and the credibility of the vehicle position information is determined by the interval between the third moment and the second moment; Based on the weight and the positioning signal position information, calibrating the vehicle position information corresponding to the third moment; Wherein, the vehicle characteristic information includes at least one positioning point information, and the determining the vehicle position information of the target vehicle based on the vehicle characteristic information and the auxiliary positioning area includes: In a case where it is determined based on the positioning point information that the positioning point falls into the auxiliary positioning area, determining the coordinates of a fixed position in the tunnel corresponding to the auxiliary positioning area, the positioning point being a specific position on the body of the target vehicle, and the positioning point information representing the position of the positioning point of the target vehicle in the image of the target vehicle; Taking the time information when the positioning point falls into the auxiliary positioning area as the first moment; Based on the coordinates of the fixed position, the vehicle position information corresponding to the first moment is determined.

2. The method according to claim 1, characterized in that The vehicle characteristic information includes a plurality of positioning point information, the number of the auxiliary positioning areas is multiple, and the determining of the vehicle position information corresponding to the first moment based on the coordinates of the fixed position includes: Determining the number of the positioning points included in each auxiliary positioning area respectively; Determine the auxiliary positioning area including the largest number of positioning points as the target auxiliary positioning area; The vehicle position information is determined based on the coordinates of the fixed position corresponding to the target auxiliary positioning area.

3. The method according to claim 1, characterized in that The image captured by the image acquisition device is also marked with a borderline area, and the borderline area corresponds to the road border in the tunnel; The method further comprises: When the distance between the target vehicle in the image and the border area is less than a first preset safety distance, sending a direction deviation reminder to the target vehicle; and / or, When the distance between the target vehicle in the image and the edge area is less than a second preset safety distance, safety braking measures are taken for the target vehicle, wherein the second preset safety distance is less than the first preset safety distance.

4. The method according to any one of claims 1 to 3, characterized in that: There are multiple auxiliary positioning areas, and the multiple auxiliary positioning areas are arranged in an array in the image captured by the image capture device.

5. A positioning device for a vehicle in a tunnel, characterized in that: The tunnel includes a plurality of image acquisition devices arranged at intervals, and the images acquired by the image acquisition devices are pre-marked with at least one auxiliary positioning area, and the auxiliary positioning area corresponds to the coordinates of a fixed position in the tunnel, and the positioning device includes: an acquisition module, configured to acquire an image of the target vehicle acquired by the image acquisition device when the target vehicle passes through the tunnel, wherein the image of the target vehicle is marked with at least one auxiliary positioning area, and the at least one auxiliary positioning area corresponds to at least one fixed position in the tunnel; An extraction module, used for extracting vehicle feature information of the target vehicle based on the image of the target vehicle; A determination module, configured to determine the vehicle position information of the target vehicle based on the vehicle characteristic information and the auxiliary positioning area; A positioning module, used to respectively acquire an image corresponding to a second moment and an image corresponding to a third moment acquired by the image acquisition device, wherein the third moment is a moment after the second moment; acquire vehicle position information corresponding to the second moment and speed information of the target vehicle at the second moment, wherein the speed information of the target vehicle at the second moment is determined by a sensor carried by the target vehicle; determine yaw angle information of the target vehicle at the second moment based on the image corresponding to the second moment and the image corresponding to the third moment; determine vehicle position information corresponding to the third moment based on the speed information, the yaw angle information, and the vehicle position information corresponding to the second moment; A calibration module, for obtaining a positioning signal of the target vehicle, the positioning signal being determined by a positioning device of a global positioning system carried by the target vehicle; determining the positioning signal position information corresponding to the third moment based on the positioning signal; obtaining weights corresponding to the positioning signal position information and the vehicle position information, the weights being determined by the stability of the positioning signal and the credibility of the vehicle position information, the credibility of the vehicle position information being determined by the interval between the third moment and the second moment; and calibrating the vehicle position information corresponding to the third moment based on the weights and the positioning signal position information; Wherein, the vehicle characteristic information includes at least one positioning point information, and the determining the vehicle position information of the target vehicle based on the vehicle characteristic information and the auxiliary positioning area includes: In a case where it is determined based on the positioning point information that the positioning point falls into the auxiliary positioning area, determining the coordinates of a fixed position in the tunnel corresponding to the auxiliary positioning area, the positioning point being a specific position on the body of the target vehicle, and the positioning point information representing the position of the positioning point of the target vehicle in the image of the target vehicle; Taking the time information when the positioning point falls into the auxiliary positioning area as the first moment; Based on the coordinates of the fixed position, the vehicle position information corresponding to the first moment is determined.

6. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to execute the method for positioning a vehicle in a tunnel according to any one of claims 1 to 4 by executing the executable instructions.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for positioning a vehicle in a tunnel according to any one of claims 1 to 4 is implemented.

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