Vehicle positioning method, device, equipment and storage medium

Abstract

This application discloses a vehicle positioning method, apparatus, device, and storage medium. The method comprises: obtaining obstacle information above the vehicle from a clearance detection device mounted on the vehicle; determining the vehicle's driving scenario based on the obstacle information; and locating the vehicle based on the driving scenario. The technical solution provided in this application enables direct detection of obstacles above the vehicle, thereby determining whether the vehicle is in driving scenarios such as urban canyons, under overpasses, or in underground parking lots. This allows for rapid switching of positioning strategies, improving the continuity and accuracy of vehicle positioning.

Description

Technical Field

[0001] The present application relates to the field of vehicle positioning technology, and in particular to a vehicle positioning method, device, equipment and storage medium. Background Art

[0002] In-car navigation uses the in-car GPS (Global Positioning System) in conjunction with an electronic map. It can conveniently and accurately tell the driver the shortest or fastest route to the destination and is one of the most commonly used tools for drivers when traveling.

[0003] In related technologies, in-vehicle navigation achieves planar positioning through civilian GPS, BDS (Beidou Navigation Satellite System), etc. When the vehicle is traveling on special scenes such as elevated bridge sections, underground parking lots, and urban canyons, the satellite signal is blocked to varying degrees and the vehicle cannot be accurately positioned. Summary of the Invention

[0004] The embodiments of the present application provide a vehicle positioning method, apparatus, device and storage medium, thereby at least to a certain extent solving the problem of inaccurate positioning of vehicles when traveling in special scenarios such as elevated bridge sections, underground parking lots, and urban canyons.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0006] According to a first aspect of an embodiment of the present application, a vehicle positioning method is provided, comprising:

[0007] Obtaining obstacle information above the vehicle from a clearance detection device installed on the vehicle;

[0008] determining a driving scenario of the vehicle according to the obstacle information;

[0009] The vehicle is positioned according to the driving scenario.

[0010] In some embodiments of the present application, based on the aforementioned solution, determining the driving scene of the vehicle according to the obstacle information includes:

[0011] A driving scenario of the vehicle is determined based on the obstacle information and the satellite signal strength received by the vehicle.

[0012] In some embodiments of the present application, based on the aforementioned solution, determining the driving scenario of the vehicle according to the obstacle information and the satellite signal strength received by the vehicle includes:

[0013] When the obstacle information indicates that there are continuous obstacles and the satellite signal strength is 0, determining that the driving scene of the vehicle is in an underground parking lot or a tunnel;

[0014] When the obstacle information indicates that there are continuous obstacles and the satellite signal strength is less than a preset strength, determining that the driving scene of the vehicle is under an overpass;

[0015] When the obstacle information indicates that there are no continuous obstacles and the satellite signal strength is less than the preset strength, it is determined that the driving scene of the vehicle is an urban canyon.

[0016] In some embodiments of the present application, based on the aforementioned solution, determining the driving scene of the vehicle according to the obstacle information includes:

[0017] A driving scene of the vehicle is determined according to the obstacle information and the driving area of ​​the vehicle.

[0018] In some embodiments of the present application, based on the aforementioned solution, determining the driving scene of the vehicle according to the obstacle information and the driving area of ​​the vehicle includes:

[0019] In a case where the driving area of ​​the vehicle is an overpass area, determining, based on whether the obstacle information indicates the presence of continuous obstacles, whether the driving scene of the vehicle is under an overpass or on an overpass;

[0020] In a case where the driving area of ​​the vehicle is an underground parking area, determining, based on whether the obstacle information indicates the presence of continuous obstacles, that the driving scene of the vehicle is in or on an underground parking area;

[0021] In a case where the driving area of ​​the vehicle is an urban canyon area, the driving scene of the vehicle is determined to be underground in an urban canyon or above ground in an urban canyon according to whether the obstacle information indicates the presence of continuous obstacles.

[0022] In some embodiments of the present application, based on the aforementioned solution, positioning the vehicle according to the driving scene includes:

[0023] determining auxiliary positioning software according to the driving scenario;

[0024] The vehicle is positioned according to satellite positioning software and the auxiliary positioning software.

[0025] In some embodiments of the present application, based on the above solution, the vehicle positioning method further includes:

[0026] When the obstacle information indicates that there are continuous obstacles, determining an obstacle farthest from the vehicle in the vehicle's traveling direction among the continuous obstacles as a target obstacle;

[0027] The mileage of the vehicle to get out of the continuous obstacles is determined according to the height from the vehicle to the target obstacle and the distance between the vehicle and the target obstacle.

[0028] According to a second aspect of an embodiment of the present application, a vehicle positioning device is provided, comprising:

[0029] A clearance detection module, configured to obtain obstacle information above the vehicle from a clearance detection device installed on the vehicle;

[0030] A driving scene determination module, configured to determine a driving scene of the vehicle based on the obstacle information;

[0031] A vehicle positioning module is used to position the vehicle according to the driving scene.

[0032] In some embodiments of the present application, based on the aforementioned solution, the driving scene determination module is further used to determine the driving scene of the vehicle based on the obstacle information and the satellite signal strength received by the vehicle.

[0033] In some embodiments of the present application, based on the aforementioned scheme, the driving scene determination module is also used to determine that the driving scene of the vehicle is in an underground parking lot or a tunnel when the obstacle information indicates that there are continuous obstacles and the satellite signal strength is 0; when the obstacle information indicates that there are continuous obstacles and the satellite signal strength is less than a preset strength, determine that the driving scene of the vehicle is under an overpass; when the obstacle information indicates that there are no continuous obstacles and the satellite signal strength is less than the preset strength, determine that the driving scene of the vehicle is an urban canyon.

[0034] In some embodiments of the present application, based on the aforementioned solution, the driving scene determination module is further used to determine the driving scene of the vehicle according to the obstacle information and the driving area where the vehicle is located.

[0035] In some embodiments of the present application, based on the aforementioned scheme, the driving scene determination module is also used to, when the driving area of ​​the vehicle is an overpass area, determine, based on whether the obstacle information shows that there are continuous obstacles, that the driving scene of the vehicle is under the overpass or on the overpass; when the driving area of ​​the vehicle is an underground parking area, based on whether the obstacle information shows that there are continuous obstacles, determine, based on whether the obstacle information shows that there are continuous obstacles, that the driving scene of the vehicle is inside the underground parking lot or on the underground parking lot; when the driving area of ​​the vehicle is an urban canyon area, based on whether the obstacle information shows that there are continuous obstacles, determine, based on whether the obstacle information shows that there are continuous obstacles, that the driving scene of the vehicle is underground in the urban canyon or above the urban canyon.

[0036] In some embodiments of the present application, based on the aforementioned solution, the vehicle positioning module is further used to determine auxiliary positioning software according to the driving scenario; and to locate the vehicle according to the satellite positioning software and the auxiliary positioning software.

[0037] In some embodiments of the present application, based on the aforementioned scheme, the vehicle positioning module is also used to, when the obstacle information indicates the existence of continuous obstacles, determine the obstacle farthest from the vehicle along the vehicle's driving direction among the continuous obstacles as the target obstacle; and determine the mileage of the vehicle out of the continuous obstacle based on the height from the vehicle to the target obstacle and the distance between the vehicle and the target obstacle.

[0038] According to a third aspect of an embodiment of the present application, a vehicle positioning device is provided, comprising a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the steps of the method described in any one of the first aspects above are implemented.

[0039] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor is prompted to implement the steps of the method described in any one of the first aspects above.

[0040] In this application, obstacle information above the vehicle is obtained from a clearance detection device installed on the vehicle; the vehicle's driving scenario is determined based on the obstacle information; and the vehicle is positioned based on the driving scenario. The technical solution provided by this application can directly detect obstacles above the vehicle, thereby determining whether the vehicle is in driving scenarios such as urban canyons, under overpasses, and in underground parking lots, thereby achieving rapid switching of positioning strategies and improving the continuity and accuracy of vehicle positioning.

[0041] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0043] Figure 1 A schematic diagram of an application scenario of a vehicle positioning method in one embodiment is shown;

[0044] Figure 2 A schematic flow chart of a vehicle positioning method in one embodiment is shown;

[0045] Figure 3 Shown Figure 2 Schematic diagram of the installation location of the clearance detection equipment;

[0046] Figure 4 A schematic diagram showing the principle of calculating the mileage of a vehicle traveling out of continuous obstacles in one embodiment is shown;

[0047] Figure 5 A block diagram of a vehicle positioning device according to one embodiment is shown;

[0048] Figure 6 A schematic structural diagram of a vehicle positioning device in one embodiment is shown. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0050] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0051] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0052] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0053] In order to make those skilled in the art better understand this application, first combine Figure 1 A brief description of the application scenarios involved in this application is given.

[0054] Figure 1 FIG. 1 shows a schematic diagram of an application scenario of a vehicle positioning method in an embodiment. Figure 1 As shown, when the vehicle is located in a complex urban three-dimensional traffic environment such as an underground parking lot scene, a scene under an overpass, and a scene in an urban canyon, the satellite signal strength received by the vehicle is very weak or even zero because the satellite signal is blocked to varying degrees by the environment. The vehicle cannot immediately determine whether it is under or on a bridge, on the ground or underground. Not only is it unable to accurately locate and implement navigation, it is also unable to adjust and call other fusion positioning strategies in a timely manner, such as inertial navigation positioning, RSSI (Received Signal Strength Indication) assisted positioning, and RTK (Real Time Kinematic) assisted positioning, resulting in slow navigation response and positioning deviation. The embodiment of the present application directly detects obstacles above the vehicle to determine whether the vehicle is in a driving scenario such as an urban canyon, under an overpass, or in an underground parking lot, thereby realizing rapid switching of positioning strategies and improving the continuity and accuracy of vehicle positioning.

[0055] Figure 2 FIG. 1 shows a flow chart of a method for positioning a vehicle in one embodiment. Figure 2 As shown, in some embodiments, the vehicle positioning method may include the following steps 201 to 203.

[0056] In step 201 , obstacle information above the vehicle is obtained from a clearance detection device installed on the vehicle.

[0057] Figure 3 Shown Figure 2 Schematic diagram of the installation location of the clearance detection equipment. Figure 3 As shown, clearance detection equipment can be installed on the vehicle's roof or windshield. This equipment can be a millimeter-wave radar, laser rangefinder, or other remote sensing device, capable of detecting the presence of continuous obstacles above the vehicle. On elevated bridges and underground parking lots, the clearance height typically does not exceed 50 meters. The detection range of remote sensing devices like millimeter-wave radar or laser rangefinders can meet these requirements, eliminating the need for precise distance feedback; simply determining the presence of continuous obstacles above the vehicle is sufficient.

[0058] In step 202, the driving scene of the vehicle is determined based on the obstacle information.

[0059] It can be understood that the obstacle information can be the presence of continuous obstacles, the absence of continuous obstacles, etc. The vehicle driving scenarios can be three scenarios that exist when the GPS signal is weak (including no signal) or the number of search satellites is reduced (including instability) when the vehicle is driving, namely, the scene under the overpass, the underground space scene (such as an underground parking lot), and the urban canyon scene with high-rise buildings on both sides of the road.

[0060] In some embodiments, the driving scenario of the vehicle can be determined based on obstacle information and the satellite signal strength received by the vehicle.

[0061] Satellite signal strength is related to GPS signal strength, the number of satellites being searched, and the stability of the number of satellites being searched. If the GPS signal is weak, the number of satellites being searched decreases, or the number is unstable, the satellite signal strength is considered weak. Otherwise, the satellite signal strength is considered strong.

[0062] It is understandable that when a vehicle is traveling in an underground space scenario, such as an underground parking lot or a tunnel, there are continuous obstacles above the vehicle and the GPS signal cannot be received; when the vehicle is traveling under an overpass, there are continuous obstacles above the vehicle and the GPS signal is weak, the number of satellite searches is reduced, or the number is unstable; when the vehicle is traveling in an urban canyon, there are no continuous obstacles above the vehicle, and the GPS signal is weak, the number of satellite searches is reduced, or the number is unstable. Based on these characteristics, in the implementation process, when the obstacle information shows that there are continuous obstacles and the satellite signal strength is 0, the vehicle's driving scenario can be determined to be in an underground parking lot or a tunnel; when the obstacle information shows that there are continuous obstacles and the satellite signal strength is less than a preset strength, the vehicle's driving scenario can be determined to be under an overpass; when the obstacle information shows that there are no continuous obstacles and the satellite signal strength is less than a preset strength, the vehicle's driving scenario can be determined to be an urban canyon.

[0063] Among them, the preset intensity can be set according to the specific situation, and the embodiment of the present application is not limited thereto.

[0064] By judging whether there are continuous obstacles above the vehicle and changes in the satellite signal strength received by the vehicle, it is possible to quickly determine whether the vehicle's driving scenario is in an underground space, under an overpass, or in an urban canyon, thereby switching the positioning strategy in the first place to improve the continuity and accuracy of navigation positioning.

[0065] In some embodiments, the driving scene of the vehicle can be determined based on obstacle information and the driving area where the vehicle is located.

[0066] The driving area may be an elevated bridge area, an underground parking lot area, or an urban canyon area. The driving area may be determined based on an onboard map.

[0067] During the implementation process, when the area where the vehicle is located is an overpass area, the vehicle's driving scene can be determined as under the overpass or on the overpass based on whether the obstacle information shows that there are continuous obstacles; when the area where the vehicle is located is an underground parking area, the vehicle's driving scene can be determined as inside or on the underground parking lot based on whether the obstacle information shows that there are continuous obstacles; when the area where the vehicle is located is an urban canyon area, the vehicle's driving scene can be determined as underground in the urban canyon or above the urban canyon based on whether the obstacle information shows that there are continuous obstacles.

[0068] It can be understood that when the vehicle is traveling in an overpass area, if there are continuous obstacles above the vehicle, it can be determined that the vehicle is traveling under the overpass; if there are no continuous obstacles above the vehicle, it can be determined that the vehicle is traveling on the overpass; when the vehicle is traveling in an underground parking lot area, if there are continuous obstacles above the vehicle, it can be determined that the vehicle is in the underground parking lot, that is, traveling underground; if there are no continuous obstacles above the vehicle, it can be determined that the vehicle is in the underground parking lot, that is, traveling on the ground; when the vehicle is traveling in an urban canyon area, if there are continuous obstacles above the vehicle, it can be determined that the vehicle is traveling underground in the urban canyon; if there are no continuous obstacles above the vehicle, it can be determined that the vehicle is traveling on the ground in the urban canyon.

[0069] By determining the vehicle's driving area through a map and combining it with whether there are continuous obstacles above the vehicle, we can quickly determine whether the vehicle's driving scenario is on an overpass, under an overpass, in an underground parking lot, on an underground parking lot, on the ground in an urban canyon, or underground in an urban canyon, providing a basis for accurate positioning and navigation.

[0070] In step 203, the vehicle is positioned according to the driving scene.

[0071] It is understandable that different positioning strategies can be used for different driving scenarios. For example, for some driving scenarios, other positioning software can be used to directly take over positioning; for other driving scenarios, satellite positioning and auxiliary positioning software can be used to combine positioning.

[0072] In some embodiments, the satellite positioning software can be switched to other positioning software, and the vehicle can be positioned by the other positioning software.

[0073] Taking the vehicle driving scenario under an overpass as an example, when the vehicle is driving under the overpass, the satellite positioning software can be switched to the inertial navigation positioning software, and the inertial navigation positioning software will be used to locate the vehicle.

[0074] In some embodiments, auxiliary positioning software can be determined based on the driving scenario; and the vehicle can be positioned based on the satellite positioning software and the auxiliary positioning software.

[0075] The auxiliary positioning software may be RSSI-assisted positioning, RTK-assisted positioning or other auxiliary positioning software.

[0076] Taking the vehicle driving scenario in an underground parking lot as an example, combining satellite positioning and RSSI-assisted positioning can achieve accurate vehicle positioning, avoiding positioning jumps and drift in the short term. By coordinating with the road binding strategy, the number of times manual intervention in route selection can be reduced, improving the user's navigation experience.

[0077] During the implementation process, it is also possible to combine traditional intelligent driving arrangements with cameras, radars and other sensing components around the vehicle body to form a new perception fusion strategy, thereby further improving the autonomous driving capabilities.

[0078] In some embodiments, when the obstacle information indicates that there are continuous obstacles, the obstacle farthest from the vehicle in the direction of vehicle travel among the continuous obstacles can be determined as the target obstacle; and the mileage of the vehicle to exit the continuous obstacle can be determined based on the height from the vehicle to the target obstacle and the distance between the vehicle and the target obstacle.

[0079] Figure 4 FIG. 1 shows a schematic diagram of the calculation principle of the mileage of a vehicle driving out of continuous obstacles in one embodiment. Figure 4 As shown, the height from the vehicle to the target obstacle is H, the distance between the vehicle and the target obstacle is the obstacle escape distance L, and the mileage of the vehicle out of the continuous obstacle is S. After determining the height H and distance L, the mileage S can be calculated according to the Pythagorean theorem.

[0080] By determining the mileage of the vehicle to overcome continuous obstacles, the mileage required for the vehicle to reach the exit of an underground parking lot, a tunnel exit, etc. can be determined.

[0081] In the above-mentioned vehicle positioning method, obstacle information above the vehicle is obtained from a clearance detection device installed on the vehicle; the vehicle's driving scenario is determined based on the obstacle information; and the vehicle is positioned based on the driving scenario. The technical solution provided by this application can directly detect obstacles above the vehicle, thereby determining whether the vehicle is in driving scenarios such as urban canyons, under overpasses, and in underground parking lots. This allows for rapid switching of positioning strategies, improving the continuity and accuracy of vehicle positioning.

[0082] The following describes an embodiment of the device of the present application, which can be used to execute the vehicle positioning method in the above embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the vehicle positioning method in the above embodiment of the present application.

[0083] Figure 5 FIG. 1 shows a block diagram of a vehicle positioning device in one embodiment. Figure 5 As shown, the positioning device of the vehicle in the embodiment of the present application includes: a clearance detection module 501, a driving scene determination module 502 and a vehicle positioning module 503, wherein the clearance detection module 501 is used to obtain obstacle information above the vehicle from a clearance detection device installed on the vehicle; the driving scene determination module 502 is used to determine the driving scene of the vehicle based on the obstacle information; and the vehicle positioning module 503 is used to position the vehicle based on the driving scene.

[0084] In some embodiments of the present application, based on the aforementioned solution, the driving scene determination module 502 is further configured to determine the driving scene of the vehicle according to the obstacle information and the satellite signal strength received by the vehicle.

[0085] In some embodiments of the present application, based on the aforementioned scheme, the driving scene determination module 502 is further used to determine that the driving scene of the vehicle is in an underground parking lot or a tunnel when the obstacle information indicates that there are continuous obstacles and the satellite signal strength is 0; to determine that the driving scene of the vehicle is under an overpass when the obstacle information indicates that there are continuous obstacles and the satellite signal strength is less than a preset strength; and to determine that the driving scene of the vehicle is an urban canyon when the obstacle information indicates that there are no continuous obstacles and the satellite signal strength is less than the preset strength.

[0086] In some embodiments of the present application, based on the aforementioned solution, the driving scene determination module 502 is further configured to determine the driving scene of the vehicle according to the obstacle information and the driving area where the vehicle is located.

[0087] In some embodiments of the present application, based on the aforementioned scheme, the driving scene determination module 502 is also used to, when the driving area of ​​the vehicle is an overpass area, determine, based on whether the obstacle information shows that there are continuous obstacles, that the driving scene of the vehicle is under the overpass or on the overpass; when the driving area of ​​the vehicle is an underground parking area, based on whether the obstacle information shows that there are continuous obstacles, determine, based on whether the obstacle information shows that there are continuous obstacles, that the driving scene of the vehicle is inside the underground parking lot or on the underground parking lot; when the driving area of ​​the vehicle is an urban canyon area, based on whether the obstacle information shows that there are continuous obstacles, determine, based on whether the obstacle information shows that there are continuous obstacles, that the driving scene of the vehicle is underground in the urban canyon or above the urban canyon.

[0088] In some embodiments of the present application, based on the aforementioned solution, the vehicle positioning module 503 is further configured to determine auxiliary positioning software according to the driving scenario; and locate the vehicle according to the satellite positioning software and the auxiliary positioning software.

[0089] In some embodiments of the present application, based on the aforementioned scheme, the vehicle positioning module 503 is also used to determine, when the obstacle information indicates that there are continuous obstacles, the obstacle farthest from the vehicle in the direction of travel of the vehicle among the continuous obstacles as the target obstacle; and determine the mileage of the vehicle to exit the continuous obstacle based on the height from the vehicle to the target obstacle and the distance between the vehicle and the target obstacle.

[0090] Based on the same inventive concept, the present application also provides a vehicle positioning device, referring to Figure 6 , shows a structural schematic diagram of a vehicle positioning device in an embodiment of the present application, wherein the vehicle positioning device includes one or more memories 604, one or more processors 602, and at least one computer program (computer program instruction) stored in the memory 604 and executable on the processor 602. When the processor 602 executes the computer program, the method described above is implemented.

[0091] Among them, Figure 6In the embodiment of the present invention, a bus architecture (represented by bus 600) is shown. Bus 600 may include any number of interconnected buses and bridges, and bus 600 links together various circuits including one or more processors represented by processor 602 and memory represented by memory 604. Bus 600 may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 605 provides an interface between bus 600 and receiver 601 and transmitter 603. Receiver 601 and transmitter 603 may be the same component, namely a transceiver, which provides a unit for communicating with various other devices over a transmission medium. Processor 602 is responsible for managing bus 600 and general processing, while memory 604 may be used to store data used by processor 602 when performing operations.

[0092] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor is prompted to implement the steps of the method as described above.

[0093] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. Furthermore, the functional units may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0094] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0095] The units described as separate components may or may not be physically separate, and the components of the control device 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 may be selected according to actual needs to achieve the purpose of the present embodiment.

[0096] If the integrated unit is implemented in the form of 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 application is essentially 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, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store computer program instructions.

[0097] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims

1. A vehicle positioning method, characterized in that: include: Obtaining obstacle information above the vehicle from a clearance detection device installed on the vehicle; determining a driving scenario of the vehicle according to the obstacle information; Positioning the vehicle according to the driving scenario; Wherein, determining the driving scene of the vehicle according to the obstacle information includes: When the obstacle information indicates that there are continuous obstacles and the satellite signal strength is 0, determining that the driving scene of the vehicle is in an underground parking lot or a tunnel; When the obstacle information indicates that there are continuous obstacles and the satellite signal strength is less than a preset strength, determining that the driving scene of the vehicle is under an overpass; When the obstacle information indicates that there are no continuous obstacles and the satellite signal strength is less than the preset strength, determining that the driving scene of the vehicle is an urban canyon; or, In a case where the driving area of ​​the vehicle is an overpass area, determining, based on whether the obstacle information indicates the presence of continuous obstacles, whether the driving scene of the vehicle is under an overpass or on an overpass; In a case where the driving area of ​​the vehicle is an underground parking area, determining, based on whether the obstacle information indicates the presence of continuous obstacles, that the driving scene of the vehicle is in or on an underground parking area; In a case where the driving area of ​​the vehicle is an urban canyon area, the driving scene of the vehicle is determined to be underground in an urban canyon or above ground in an urban canyon according to whether the obstacle information indicates the presence of continuous obstacles.

2. The vehicle positioning method according to claim 1, characterized in that: Positioning the vehicle according to the driving scenario includes: determining auxiliary positioning software according to the driving scenario; The vehicle is positioned according to satellite positioning software and the auxiliary positioning software.

3. The vehicle positioning method according to claim 1, characterized in that: Also includes: When the obstacle information indicates that there are continuous obstacles, determining an obstacle farthest from the vehicle in the vehicle's traveling direction among the continuous obstacles as a target obstacle; The mileage of the vehicle to get out of the continuous obstacles is determined according to the height from the vehicle to the target obstacle and the distance between the vehicle and the target obstacle.

4. A vehicle positioning device, characterized in that: include: A clearance detection module, configured to obtain obstacle information above the vehicle from a clearance detection device installed on the vehicle; A driving scene determination module, configured to determine a driving scene of the vehicle based on the obstacle information; A vehicle positioning module, configured to position the vehicle according to the driving scenario; The driving scene determination module is further configured to, if the obstacle information indicates the presence of continuous obstacles and the satellite signal strength is 0, determine that the vehicle's driving scene is in an underground parking lot or a tunnel; if the obstacle information indicates the presence of continuous obstacles and the satellite signal strength is less than a preset strength, determine that the vehicle's driving scene is under an overpass; and if the obstacle information indicates the absence of continuous obstacles and the satellite signal strength is less than the preset strength, determine that the vehicle's driving scene is in an urban canyon; or, In the case where the vehicle is traveling in an overpass area, based on whether the obstacle information shows that there are continuous obstacles, the vehicle's driving scene is determined to be under the overpass or on the overpass. In the case where the vehicle is traveling in an underground parking area, based on whether the obstacle information shows that there are continuous obstacles, the vehicle's driving scene is determined to be in the underground parking lot or on the underground parking lot. In the case where the vehicle is traveling in an urban canyon area, based on whether the obstacle information shows that there are continuous obstacles, the vehicle's driving scene is determined to be underground in the urban canyon or above the urban canyon.

5. A vehicle positioning device, comprising a processor and a memory, characterized in that: The memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the steps of the method according to any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, which, when executed by a processor, prompt the processor to implement the steps of the method according to any one of claims 1 to 3.

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