Fusion parking positioning method and device based on magnetic nail map, equipment, storage medium and program product

Abstract

The invention discloses a fusion parking positioning method and device based on a magnetic nail map, equipment, a storage medium and a program product, and relates to the technical field of parking positioning. Comprising the steps of determining vehicle initial position information and parking distance change information of a vehicle in a magnetic nail map based on a magnetic nail number signal fed back by a magnetic nail in a parking scene; global positioning information of the vehicle in a magnetic nail map is determined according to the initial position information and the parking distance change information; determining local pose information of the vehicle according to the driving distance of each wheel of the vehicle in unit time; and carrying out fusion processing on the global positioning information and the local pose information to obtain the pose information of the target vehicle. The global positioning information and the local pose information in the parking process are fused, so that the positioning accuracy and the robustness of the system are improved, and the positioning error is reduced.

Description

Technical Field

[0001] The present application relates to the field of parking positioning technology, and in particular to a fusion parking positioning method, device, equipment, storage medium and program product based on a magnetic nail map. Background Art

[0002] In recent years, with the development of various technologies, cars have become a very common means of transportation. At present, with the rise of electric vehicles, people's requirements for intelligent driving functions are gradually increasing. Automatic parking and valet parking functions have become the focus of intelligent driving cars.

[0003] However, parking conditions have their own characteristics: extremely low vehicle speed, obstructed scenes, and high precision requirements, which make parking positioning difficult. Summary of the invention

[0004] The main purpose of this application is to provide a fusion parking positioning method, device, equipment, storage medium and program product based on a magnetic nail map, aiming to solve the technical problem that parking positioning becomes difficult due to extremely low vehicle speed, obstructed scene and high precision requirements in the existing automatic parking technology.

[0005] To achieve the above purpose, the present application proposes a fusion parking positioning method based on a magnetic nail map, and the fusion parking positioning method based on a magnetic nail map includes:

[0006] Determine the vehicle's initial position information and parking distance change information in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scenario;

[0007] Determining the global positioning information of the vehicle in the magnetic nail map according to the initial position information and the parking distance change information;

[0008] Determining local position information of the vehicle according to the travel distance of each wheel of the vehicle per unit time;

[0009] The global positioning information and the local posture information are fused to obtain the target vehicle posture information.

[0010] In one implementation, the step of determining the vehicle initial position information and parking distance change information of the vehicle in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scene includes:

[0011] When the vehicle enters the parking scene, the magnetic pin is excited based on the vehicle-mounted magnetic sensor and a magnetic pin number signal fed back by the magnetic pin is obtained;

[0012] Determine the initial position information of the vehicle on the magnetic nail map according to the magnetic nail number signal;

[0013] The parking distance change information of the vehicle is obtained based on the signal strength change of the magnetic nail number signal received by the vehicle during the parking process.

[0014] In one implementation, the step of acquiring the parking distance change information of the vehicle based on the signal strength change of the magnetic nail number signal received by the vehicle during the parking process includes:

[0015] Determining a response magnetic pin number based on a magnetic pin number signal received by the vehicle during parking;

[0016] Acquire four-wheel position change information of each wheel of the vehicle on the magnetic nail map according to the change in the strength of the magnetic nail number signal received during the parking process in response to different magnetic nail numbers;

[0017] The parking distance change information of the vehicle is determined according to the four-wheel position change information.

[0018] In one implementation, the step of determining the local position information of the vehicle according to the travel distance of each wheel of the vehicle per unit time includes:

[0019] Obtaining tire pressure conditions of the vehicle during parking based on tire pressure monitoring sensors;

[0020] determining a tire travel distance during the parking process based on the tire pressure condition;

[0021] Determine the wheel travel distance per unit time according to the tire running distance and the wheel rotation angle per unit time;

[0022] Determining a change in the front and rear heading angle of the vehicle within a period according to the wheel travel distance of each wheel of the vehicle;

[0023] The local position information of the vehicle within a period is determined according to the change of the front and rear heading angles.

[0024] In one implementation, the front-rear heading angle change includes: a front heading angle change and a rear heading angle change;

[0025] The step of determining the change of the front and rear heading angle of the vehicle within a period according to the wheel travel distance of each wheel of the vehicle comprises:

[0026] Determine the change of the vehicle front heading angle within the cycle according to the first wheel travel distance of the right front wheel, the second wheel travel distance of the left front wheel and the front wheel width of the vehicle;

[0027] The change of the vehicle rear heading angle within the cycle is determined according to the third wheel travel distance of the right rear wheel, the fourth wheel travel distance of the left rear wheel, and the vehicle rear wheelbase.

[0028] In one implementation, the step of fusing the global positioning information and the local posture information to obtain the target vehicle posture information includes:

[0029] Using the global positioning information as an observation value of a Kalman filter algorithm;

[0030] Using the local posture information as an empirical value of a Kalman filter algorithm;

[0031] Get the bias weight after the magnetic map is marked;

[0032] A fusion process is performed based on the observation value, the experience value and the bias weight to obtain the target vehicle posture information.

[0033] In addition, to achieve the above purpose, the present application also proposes a fusion parking positioning device based on a magnetic nail map, and the fusion parking positioning device based on a magnetic nail map includes:

[0034] An information acquisition module, used to determine the vehicle's initial position information and parking distance change information in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scene;

[0035] A global positioning module, used to determine the global positioning information of the vehicle in the magnetic nail map according to the initial position information and the parking distance change information;

[0036] A local positioning module, used to determine the local position information of the vehicle according to the travel distance of each wheel of the vehicle per unit time;

[0037] The positioning fusion module is used to fuse the global positioning information and the local posture information to obtain the target vehicle posture information.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a fusion parking positioning device based on a magnetic nail map, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the fusion parking positioning method based on a magnetic nail map as described above.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the fusion parking positioning method based on the magnetic nail map as described above are implemented.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the fusion parking positioning method based on the magnetic nail map as described above.

[0041] One or more technical solutions proposed in this application have at least the following technical effects:

[0042] This application determines the vehicle's initial position information and parking distance change information in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scene; determines the vehicle's global positioning information in the magnetic nail map based on the initial position information and parking distance change information; determines the vehicle's local posture information based on the driving distance of each wheel of the vehicle per unit time; and fuses the global positioning information and local posture information to obtain the target vehicle's posture information. Since the global positioning information and local posture information in the parking process are fused, the positioning accuracy and system robustness are improved, and the positioning error is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 A flowchart diagram of the first embodiment of the fusion parking positioning method based on the magnetic nail map provided in the present application;

[0046] Figure 2 A schematic diagram of a parking road surface in one implementation of the fusion parking positioning method based on a magnetic nail map of the present application;

[0047] Figure 3 A schematic diagram of a parking scene in one implementation of the magnetic nail map-based fusion parking positioning method of the present application;

[0048] Figure 4 A schematic diagram of the left and right wheels of a vehicle in a parking scene in one implementation of the fusion parking positioning method based on a magnetic nail map of the present application;

[0049] Figure 5 A flow chart of the second embodiment of the fusion parking positioning method based on the magnetic nail map provided in this application;

[0050] Figure 6 A flowchart diagram of the third embodiment of the fusion parking positioning method based on the magnetic nail map of the present application;

[0051] Figure 7 This is a schematic diagram of functional modules in one implementation of the fusion parking positioning method based on magnetic nail map of this application;

[0052] Figure 8 A schematic diagram of movement within a unit period in an implementation method of an embodiment of the present application;

[0053] Fig. 9 This is a schematic diagram of the module structure of a fusion parking positioning device based on a magnetic nail map according to an embodiment of the present application;

[0054] Fig.10 Schematic diagram of the device structure of the hardware operating environment involved in the magnetic nail map-based fusion parking positioning method in the embodiment of the present application.

[0055] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0057] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0058] The main solution of the embodiment of the present application is: determine the vehicle's initial position information and parking distance change information in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scenario; determine the vehicle's global positioning information in the magnetic nail map based on the initial position information and the parking distance change information; determine the vehicle's local posture information based on the travel distance of each wheel of the vehicle per unit time; fuse the global positioning information and the local posture information to obtain the target vehicle posture information.

[0059] In an existing implementation scheme, an automatic guided vehicle based on magnetic nail map navigation is proposed. The guided vehicle travels on a lane with buried magnetic nails. The coordinates of the magnetic nails on the road are known and stored in the controller. The controller measures the relative positions of the magnetic nails on the lane and the vehicle body by means of a magnetic ruler to achieve high-precision positioning of the vehicle. By using an inertial navigation module and an odometer, combined with data fusion of the magnetic nail coordinate information, the controller can accurately and continuously calculate the absolute position of the vehicle, and achieve high-precision positioning and autonomous driving through actuators.

[0060] In the above scheme, since the vehicle is guided by a single magnetic nail road, the accuracy of the posture information cannot meet the parking needs; at the same time, the excitation method of the magnetic nail is not clarified, the feasibility of the application is insufficient, and there is a problem that it cannot be used in complex environments.

[0061] The present application provides a solution by installing in the vehicle a wheel speed pulse sensor, a tire pressure monitoring sensor and a vehicle-mounted magnetic sensor installed in the center of four vehicles, which have been calibrated and have an accuracy within an acceptable range (conforming to but not limited to the accuracy requirements of parking scenarios).

[0062] In some embodiments of the present application, the above-mentioned vehicle-mounted magnetic sensor may be in the shape of a long strip, and may specifically include an excitation end and a receiving end as well as a corresponding physical signal and digital signal conversion device, and the magnetic sensor of the present application may be connected to the vehicle CAN network. Through the solution of the present application, the problem of the accuracy of the position information of the vehicle during parking in fixed scenes such as parking lots can be solved; at the same time, the present application converges the system error by fusing the local coordinate system and the magnetic nail map data, thereby improving the positioning accuracy during parking.

[0063] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as an on-board computing terminal, a server connected to the on-board computing terminal, etc., or an electronic device capable of realizing the above functions, a virtual device, etc. The following takes a fusion parking device based on a magnetic nail map (hereinafter referred to as a parking device) as an example to illustrate this embodiment and the following embodiments.

[0064] Based on this, the embodiment of the present application provides a fusion parking positioning method based on a magnetic nail map, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the fusion parking positioning method based on magnetic nail map of the present application.

[0065] In this embodiment, the fusion parking positioning method based on the magnetic nail map includes steps S10 to S40:

[0066] Step S10, determining the vehicle initial position information and parking distance change information of the vehicle in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scene.

[0067] It should be noted that the above-mentioned parking scenarios are scenarios in which the vehicle can perform parking or automatic parking operations, such as national standard roads, parking spaces, etc., and the embodiments of the present application are not limited to this.

[0068] In some implementations of the embodiments of the present application, reference may be made to Figure 2As shown, the parking scene of the present application is provided with passive permanent magnets buried below the ground surface at the corresponding position. Through the magnetic nails arranged in the parking scene, a corresponding magnetic nail map can be formed, and through the signal interaction between the magnetic nails and the magnetic sensor, the position information of the vehicle in the magnetic nail map can be determined.

[0069] It should be noted that the permanent magnet nails can be buried vertically in the road surface to a depth of 5-15 cm from the ground, and the embodiments of the present application are not limited to this.

[0070] In some implementations of the embodiments of the present application, the permanent magnet magnetic pins of the embodiments of the present application may include an insulator shell and a built-in stress-type magnetic pin. The shell used may be a high-strength shell, such as a carbon fiber shell, a special ceramic shell, etc., and the embodiments of the present application are not limited to this.

[0071] In some implementations of the embodiments of the present application, the built-in excitation magnetic nail of the embodiments of the present application can respond to the excitation magnetic field emitted by the excitation end of the vehicle-mounted magnetic sensor, and feedback a numbered physical signal that can be captured by the vehicle-mounted magnetic sensor, that is, the magnetic nail number signal.

[0072] In some implementations of the embodiments of the present application, the parking scene of the embodiments of the present application can refer to Figure 3 When the vehicle enters the parking scene, the magnetic sensor at the vehicle end can excite the nearby magnetic pins and determine the magnetic pin numbers corresponding to each magnetic pin based on the magnetic pin number signals fed back by the magnetic pins (including magnetic pins 1-13 in the figure), and then determine the corresponding position information of the vehicle based on the magnetic pin map recorded in the vehicle controller (which may include a parking space diagram).

[0073] It is understandable that the magnetic sensor can be arranged inside the wheel or other locations, and may include a built-in magnetic strip for exciting magnetic nails. By obtaining the magnetic nail number signal based on the exciting magnetic field feedback of the magnetic nail, it is possible to determine which magnetic nails are around the vehicle; based on the signal strength of the magnetic nail number signal, it is also possible to determine the distance to these magnetic nails.

[0074] It should be understood that the above-mentioned initial position information of the vehicle is also the position information of the vehicle before the parking starts. When the vehicle starts to park, the vehicle-end magnetic sensor can emit an excitation magnetic field, and by obtaining the magnetic nail number signal fed back by the magnetic nail based on the excitation magnetic field, the initial position information of the vehicle during parking and the parking distance change information can be determined.

[0075] It should be noted that during the parking process, the vehicle will move slowly to enter the parking space, and the position of the vehicle is constantly changing during this process. The above parking distance change information can reflect the distance information between the vehicle and each magnetic nail during the parking process. Specifically, it can be understood that during the parking process of the vehicle, the distance change information between each wheel of the vehicle and the same magnetic nail and the magnetic nail number signal change information of different magnetic nails received by each wheel of the vehicle. That is, the step of determining the vehicle's initial position information and parking distance change information in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scenario includes:

[0076] Step S11, when the vehicle enters a parking scene, the magnetic pin is excited based on the vehicle-mounted magnetic sensor and a magnetic pin number signal fed back by the magnetic pin is obtained.

[0077] Step S12, determining the initial position information of the vehicle on the magnetic pin map according to the magnetic pin number signal.

[0078] Step S13: acquiring parking distance change information of the vehicle based on the signal strength change of the magnetic nail number signal received by the vehicle during the parking process.

[0079] It is understandable that in the embodiment of the present application, the excitation magnetic field of the vehicle-end magnetic sensor has a certain excitation range, which can be set as a preset excitation range. For magnetic nails within the preset excitation range, they can be excited and feedback the magnetic nail number information; for magnetic nails outside the preset excitation range, they are in a silent state. By setting the preset excitation range, the number of magnetic nails within the preset excitation range covered by each wheel of the vehicle can be kept roughly the same, which facilitates the controller logic module to calculate the position of the wheel on the global magnetic nail map.

[0080] In a specific implementation, the parking device can determine the initial position of the vehicle in the magnetic pin map based on the magnetic pin number signal fed back by the magnetic pin when entering the parking scene, and determine the parking distance change information during the parking process based on the change in the magnetic pin number signal strength during the parking process and the change in the magnetic pin signal strength of different magnetic pins.

[0081] Step S20, determining the global positioning information of the vehicle in the magnetic nail map according to the initial position information and the parking distance change information.

[0082] It should be noted that the above global positioning information can be the global trajectory information of the vehicle during the parking process. When the vehicle is driving in the parking scene, as the wheels move, the magnetic nails in the forward direction of the wheels will feedback the magnetic nail number signal with their own number due to entering the preset excitation range of the magnetic field of the vehicle-end magnetic sensor. According to the signal strength of the magnetic nail number signal, the distance between the magnetic nail and the vehicle-end magnetic sensor can be determined, that is, the distance between the magnetic nail and the wheel. At the same time, the magnetic nails on the rear of the wheel will enter a silent state due to being away from the preset excitation range (of the rear wheel).

[0083] In some implementations of the present application, since the vehicle-end magnetic sensor can be set at the wheel position, the above parking distance change information can be specifically expressed as parking distance change information of each wheel of the vehicle. In the present application, the solution of the present application will be described in detail by taking four wheels as an example.

[0084] It can be understood that by superimposing the initial position information of the vehicle and the parking distance change information of the four wheels during the parking process, the global positioning trajectory of the vehicle on the magnetic nail map can be determined, that is, the global positioning information of the vehicle on the magnetic nail map can be determined.

[0085] In a specific implementation, the parking device can determine the global positioning information of the vehicle in the magnetic nail map based on the initial position information of the vehicle and the parking distance change information of each wheel during the parking process of the vehicle.

[0086] Step S30, determining the local position information of the vehicle according to the travel distance of each wheel of the vehicle per unit time.

[0087] It should be noted that when the vehicle is traveling in a parking scene, the global position of the vehicle can be continuously indicated on the magnetic nail map through the magnetic nail number signal. In some embodiments of the present application, the vehicle-end magnetic sensor of the present application can be a long strip of magnetic sensor. The vehicle-end magnetic sensor provided on the wheel can obtain the vehicle's own posture information according to the geomagnetic field, that is, determine the wheel rotation state, and then determine the travel distance of each wheel in unit time. At the same time, combined with the vehicle power structure (including but not limited to the vehicle being a rigid body, the rear wheels being unable to rotate, and the front wheels having rotation limits, etc.), the local posture information of the vehicle can be determined.

[0088] Step S40, fusing the global positioning information and the local posture information to obtain the target vehicle posture information.

[0089] It is understandable that by fusing the global positioning information and the local posture information, the positioning accuracy can be improved, the robustness of the system can be enhanced, and the comprehensiveness of the parking path planning can be improved. The fusion processing method used in the embodiment of the present application can be a Kalman filter algorithm, a particle filter algorithm, etc., and the embodiment of the present application is not limited to this.

[0090] The embodiment of the present application determines the vehicle's initial position information and parking distance change information in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scene; determines the vehicle's global positioning information in the magnetic nail map based on the initial position information and parking distance change information; determines the vehicle's local posture information based on the driving distance of each wheel of the vehicle per unit time; and fuses the global positioning information and the local posture information to obtain the target vehicle's posture information. Since the global positioning information and the local posture information in the parking process are fused, the positioning accuracy and system robustness are improved, and the positioning error is reduced.

[0091] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 5 In an embodiment of the present application, the step of obtaining the parking distance change information of the vehicle based on the signal strength change of the magnetic nail number signal received by the vehicle during the parking process includes:

[0092] Step S100, determining a response magnetic pin number based on a magnetic pin number signal received by the vehicle during parking.

[0093] It can be understood that the above-mentioned response magnetic pin number is also the magnetic pin number of the magnetic pin that responds to the excitation magnetic field emitted by the vehicle-end magnetic sensor of a wheel. When the magnetic pin (which can be set as the response magnetic pin) responds to the excitation magnetic field, the corresponding magnetic pin number signal can be fed back to the vehicle-end magnetic sensor of the wheel.

[0094] Step S200, obtaining four-wheel position change information of each wheel of the vehicle on the magnetic nail map according to the change in the strength of the magnetic nail number signal received in response to different magnetic nail numbers during the parking process.

[0095] It is understandable that during the parking process, the change in the position of the vehicle will cause the corresponding response magnetic nails and magnetic nail number signal strengths of the four wheels of the vehicle to change. Based on these changes, the position information and position change information of each wheel of the vehicle on the magnetic nail map can be determined, that is, the four-wheel position change information of each wheel on the magnetic nail map can be determined. Based on the four-wheel position change information, the parking distance change information of each wheel of the vehicle during the parking process can be determined. That is, step S300, the parking distance change information of the vehicle is determined according to the four-wheel position change information.

[0096] In one implementation of the embodiment of the present application, in order to realize the fusion processing of global positioning information and local posture information, the step of fusing the global positioning information and the local posture information to obtain the target vehicle posture information includes:

[0097] Using the global positioning information as an observation value of a Kalman filter algorithm;

[0098] Using the local posture information as an empirical value of a Kalman filter algorithm;

[0099] Get the bias weight after the magnetic map is marked;

[0100] A fusion process is performed based on the observation value, the experience value and the bias weight to obtain the target vehicle posture information.

[0101] It should be noted that the fusion processing of this application is explained by taking the classic Kalman filter algorithm as an example in the embodiment of this application. Specifically, the global positioning information can be used as the observation value and the local posture information can be used as the empirical value input, and the bias weight obtained after the specific magnetic nail map is marked can be combined to calculate the final target vehicle posture information.

[0102] It can be understood that in the Kalman filter, the observed value is used to compare and correct with the empirical value to improve the accuracy of state estimation. By using the magnetic nail map for calibration, the vehicle's deviation information relative to the map can be obtained. By converting the deviation information into a deviation weight, and using the deviation weight in the update step of the Kalman filter to adjust the fusion ratio of the observed value and the empirical value, the final target vehicle posture information can be obtained through multiple iterations.

[0103] The embodiment of the present application determines the response magnetic nail number based on the magnetic nail number signal received by the vehicle during the parking process; obtains the four-wheel position change information of each wheel of the vehicle on the magnetic nail map according to the change in the strength of the magnetic nail number signal of different response magnetic nail numbers received during the parking process; and determines the parking distance change information of the vehicle according to the four-wheel position change information. Since the vehicle-end magnetic sensor is arranged on the wheel, the four-wheel position change information is determined by the change in the magnetic nail number signal of each wheel during the parking process, which meets the accuracy requirement of the posture information during the parking process.

[0104] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those of the above-mentioned first embodiment and / or the second embodiment can refer to the above introduction, and will not be repeated later. Figure 6 In the embodiment of the present application, the step of determining the local position information of the vehicle according to the travel distance of each wheel of the vehicle per unit time includes:

[0105] Step S31, obtaining the tire pressure condition of the vehicle during parking based on the tire pressure monitoring sensor.

[0106] In some implementations of the embodiments of the present application, reference may be made to Figure 7 In order to determine the target vehicle positioning information, the vehicle of the embodiment of the present application may include a magnetic sensor and a tire pressure monitoring sensor, a controller and a CAN arranged on the tire. The controller may include a local coordinate calculation module, a data storage module, a global magnetic nail map and a logic module. The magnetic sensor feeds back the received magnetic nail number signal (shown as this signal) to the controller, and the local coordinate system calculation module can determine the local coordinate of the magnetic sensor. The tire pressure monitoring sensor feeds back the tire pressure signal to the controller, and the controller can determine the tire pressure condition of the vehicle during parking based on the tire pressure signal. Through CAN communication, the information of different modules in the controller (such as posture information) can be interacted through enable signals.

[0107] Step S32: determining a tire travel distance during the parking process based on the tire pressure condition.

[0108] It should be noted that the above method for determining the tire running distance based on the tire pressure condition can be determined based on a machine learning module or based on a data table calibrated by the manufacturer, and the embodiment of the present application is not limited to this.

[0109] It can be understood that, based on the tire pressure conditions, the tire running distance per unit angle corresponding to the tire pressure conditions at that time can be obtained.

[0110] Step S33, determining the wheel travel distance per unit time according to the tire running distance and the wheel rotation angle per unit time.

[0111] It should be noted that the wheel rotation angle per unit time (e.g., the minimum unit time of the CAN network) can be obtained by the vehicle-mounted long magnetic sensor according to the geomagnetic field. Based on the wheel rotation angle and the tire running distance, the travel distance of a single wheel per unit time can be determined. The specific calculation formula can be as follows:

[0112] S = Lt*angT;

[0113] Among them, S is the travel distance of the tire, Lt is the tire running distance, and angT is the wheel rotation angle.

[0114] Step S34, determining the change in the front and rear heading angle of the vehicle within a period according to the wheel travel distance of each wheel of the vehicle.

[0115] In some implementations of the embodiments of the present application, reference may be made to Figure 8 As shown, in each cycle of the parking scene, the vehicle can be considered to be in approximately circular or linear motion and the heading angle change value is very small. Therefore, the specific calculation formula for the front and rear heading angle change in the cycle can be as follows:

[0116] Δθf=(Sfr-Sfl) / Lf;

[0117] Δθr=(Srr-Srl) / Lr;

[0118] Among them, Δθf is the change of the front wheel heading angle, Δθr is the change of the rear wheel heading angle, Lf is the front wheel width, Lr is the rear wheel width, Sfr is the distance traveled per unit time of the right front wheel (the first wheel distance), Sfl is the distance traveled per unit time of the left front wheel (the second wheel distance), Srr is the distance traveled per unit time of the right rear wheel (the third wheel distance), and Srl is the distance traveled per unit time of the right rear wheel (the fourth wheel distance). That is, the front and rear heading angle changes include: the front heading angle change and the rear heading angle change;

[0119] The step of determining the change of the front and rear heading angle of the vehicle within a period according to the wheel travel distance of each wheel of the vehicle comprises:

[0120] Determine the change of the vehicle front heading angle within the cycle according to the first wheel travel distance of the right front wheel, the second wheel travel distance of the left front wheel and the front wheel width of the vehicle;

[0121] The change of the vehicle rear heading angle within the cycle is determined according to the third wheel travel distance of the right rear wheel, the fourth wheel travel distance of the left rear wheel, and the vehicle rear wheelbase.

[0122] Step S35, determining the local position information of the vehicle within the period according to the change of the front and rear heading angles.

[0123] It should be noted that, based on the fact that the centers of the front and rear axles of the vehicle are located at the two ends of the cylinder of the vehicle's main shaft, the present application can constrain the above-mentioned vehicle front and rear axle center posture information including the changes in the front heading angle of the vehicle and the changes in the rear heading angle of the vehicle under relevant boundary conditions, and then output the vehicle posture change information within the cycle as local posture information.

[0124] It should be noted that the above-mentioned related boundary constraints can be selected according to actual applications. The above-mentioned related boundary constraints can be rigid body model constraints, kinematic constraints, etc., and the embodiments of the present application are not limited to this.

[0125] The embodiment of the present application obtains the tire pressure condition of the vehicle during parking based on the tire pressure monitoring sensor; determines the tire running distance during parking based on the tire pressure condition; determines the wheel travel distance per unit time based on the tire running distance and the wheel rotation angle per unit time; determines the front and rear heading angle change of the vehicle within a cycle based on the wheel travel distance of each wheel of the vehicle; and determines the local posture information of the vehicle within the cycle based on the front and rear heading angle change. Since the local posture information of the vehicle is determined by the tire data and the characteristics of the rigid body, the global positioning information and the local posture information can be fused during the vehicle positioning process, thereby improving the positioning accuracy.

[0126] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the fusion parking positioning method based on the magnetic nail map of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0127] This application also provides a fusion parking positioning device based on magnetic nail map, please refer to Fig. 9 , the fusion parking positioning device based on magnetic nail map includes:

[0128] The information acquisition module 10 is used to determine the vehicle initial position information and parking distance change information of the vehicle in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scene;

[0129] A global positioning module 20, configured to determine the global positioning information of the vehicle in the magnetic nail map according to the initial position information and the parking distance change information;

[0130] A local positioning module 30, used to determine the local position information of the vehicle according to the travel distance of each wheel of the vehicle per unit time;

[0131] The positioning fusion module 40 is used to fuse the global positioning information and the local posture information to obtain the target vehicle posture information.

[0132] The fusion parking positioning device based on magnetic nail map provided by the present application adopts the fusion parking positioning method based on magnetic nail map in the above embodiment, which can solve the technical problem that the parking positioning becomes difficult due to the extremely low vehicle speed, scene obstruction, and high precision requirement of the existing automatic parking. Compared with the prior art, the beneficial effects of the fusion parking positioning device based on magnetic nail map provided by the present application are the same as the beneficial effects of the fusion parking positioning method based on magnetic nail map provided by the above embodiment, and the other technical features of the fusion parking positioning device based on magnetic nail map are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0133] The present application provides a fusion parking positioning device based on a magnetic nail map, and the fusion parking positioning device based on a magnetic nail map includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the fusion parking positioning method based on the magnetic nail map in the above-mentioned embodiment one.

[0134] Reference below Fig.10 , which shows a schematic diagram of the structure of a fusion parking positioning device based on a magnetic nail map suitable for implementing the embodiment of the present application. The fusion parking positioning device based on a magnetic nail map in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.10 The magnetic nail map-based fusion parking positioning device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0135] like Fig.10As shown, the fusion parking positioning device based on the magnetic nail map may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the fusion parking positioning device based on the magnetic nail map are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the magnetic nail map-based fusion parking positioning device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a magnetic nail map-based fusion parking positioning device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0136] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0137] The fusion parking positioning device based on magnetic nail map provided by the present application adopts the fusion parking positioning method based on magnetic nail map in the above embodiment, which can solve the technical problem that the automatic parking in the prior art is difficult due to extremely low vehicle speed, scene obstruction, and high precision requirement. Compared with the prior art, the beneficial effects of the fusion parking positioning device based on magnetic nail map provided by the present application are the same as the beneficial effects of the fusion parking positioning method based on magnetic nail map provided by the above embodiment, and the other technical features of the fusion parking positioning device based on magnetic nail map are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0138] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0139] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0140] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the magnetic nail map-based fusion parking positioning method in the above-mentioned embodiment.

[0141] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer 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. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0142] The computer-readable storage medium may be included in the fusion parking positioning device based on the magnetic pin map; or may exist independently without being assembled into the fusion parking positioning device based on the magnetic pin map.

[0143] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the fusion parking positioning device based on the magnetic nail map, the fusion parking positioning device based on the magnetic nail map:

[0144] Determine the vehicle's initial position information and parking distance change information in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scenario;

[0145] Determining the global positioning information of the vehicle in the magnetic nail map according to the initial position information and the parking distance change information;

[0146] Determining local position information of the vehicle according to the travel distance of each wheel of the vehicle per unit time;

[0147] The global positioning information and the local posture information are fused to obtain the target vehicle posture information.

[0148] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0149] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0150] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0151] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned magnetic nail map-based fusion parking positioning method, which can solve the technical problem that the existing automatic parking technology has difficulty in parking positioning due to extremely low vehicle speed, scene obstruction, and high precision requirements. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the magnetic nail map-based fusion parking positioning method provided in the above embodiment, and will not be repeated here.

[0152] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned magnetic nail map-based fusion parking positioning method.

[0153] The computer program product provided by the present application can solve the technical problem that the parking positioning becomes difficult due to the extremely low vehicle speed, scene obstruction, and high precision requirements of the existing automatic parking technology. Compared with the existing technology, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the fusion parking positioning method based on the magnetic nail map provided in the above embodiment, which will not be repeated here.

[0154] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A fusion parking positioning method based on magnetic nail map, characterized in that: The method comprises: Determine the vehicle's initial position information and parking distance change information in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scenario; Determining the global positioning information of the vehicle in the magnetic nail map according to the initial position information and the parking distance change information; Determining local position information of the vehicle according to the travel distance of each wheel of the vehicle per unit time; The global positioning information and the local posture information are fused to obtain the target vehicle posture information.

2. The fusion parking positioning method based on magnetic nail map according to claim 1 is characterized in that: The step of determining the vehicle initial position information and parking distance change information of the vehicle in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scene includes: When the vehicle enters the parking scene, the magnetic pin is excited based on the vehicle-mounted magnetic sensor and a magnetic pin number signal fed back by the magnetic pin is obtained; Determine the initial position information of the vehicle on the magnetic nail map according to the magnetic nail number signal; The parking distance change information of the vehicle is obtained based on the signal strength change of the magnetic nail number signal received by the vehicle during the parking process.

3. The fusion parking positioning method based on magnetic nail map according to claim 2 is characterized in that: The step of acquiring the parking distance change information of the vehicle based on the signal strength change of the magnetic nail number signal received by the vehicle during the parking process includes: Determining a response magnetic pin number based on a magnetic pin number signal received by the vehicle during parking; Acquire four-wheel position change information of each wheel of the vehicle on the magnetic nail map according to the change in the strength of the magnetic nail number signal received during the parking process in response to different magnetic nail numbers; The parking distance change information of the vehicle is determined according to the four-wheel position change information.

4. The fusion parking positioning method based on magnetic nail map according to claim 1, characterized in that: The step of determining the local position information of the vehicle according to the travel distance of each wheel of the vehicle per unit time comprises: Obtaining tire pressure conditions of the vehicle during parking based on tire pressure monitoring sensors; determining a tire travel distance during the parking process based on the tire pressure condition; Determine the wheel travel distance per unit time according to the tire running distance and the wheel rotation angle per unit time; Determining a change in the front and rear heading angle of the vehicle within a period according to the wheel travel distance of each wheel of the vehicle; The local position information of the vehicle within a period is determined according to the change of the front and rear heading angles.

5. The fusion parking positioning method based on magnetic nail map according to claim 4 is characterized in that: The front and rear heading angle changes include: changes in the front heading angle of the vehicle and changes in the rear heading angle of the vehicle; The step of determining the change of the front and rear heading angle of the vehicle within a period according to the wheel travel distance of each wheel of the vehicle comprises: Determine the change of the vehicle front heading angle within the cycle according to the first wheel travel distance of the right front wheel, the second wheel travel distance of the left front wheel and the front wheel width of the vehicle; The change of the vehicle rear heading angle within the cycle is determined according to the third wheel travel distance of the right rear wheel, the fourth wheel travel distance of the left rear wheel, and the vehicle rear wheelbase.

6. The fusion parking positioning method based on magnetic nail map according to claim 1, characterized in that: The step of fusing the global positioning information and the local posture information to obtain the target vehicle posture information comprises: Using the global positioning information as an observation value of a Kalman filter algorithm; Using the local posture information as an empirical value of a Kalman filter algorithm; Get the bias weight after the magnetic map is marked; A fusion process is performed based on the observation value, the experience value and the bias weight to obtain the target vehicle posture information.

7. A fusion parking positioning device based on magnetic nail map, characterized in that: The fusion parking positioning device based on the magnetic nail map includes: An information acquisition module, used to determine the vehicle's initial position information and parking distance change information in the magnetic nail map based on the magnetic nail number signal fed back by the magnetic nail in the parking scene; A global positioning module, used to determine the global positioning information of the vehicle in the magnetic nail map according to the initial position information and the parking distance change information; A local positioning module, used to determine the local position information of the vehicle according to the travel distance of each wheel of the vehicle per unit time; The positioning fusion module is used to fuse the global positioning information and the local posture information to obtain the target vehicle posture information.

8. A fusion parking positioning device based on magnetic nail map, characterized in that: The device includes: a memory, a processor, and a magnetic nail map-based fusion parking positioning program stored in the memory and executable on the processor, wherein the magnetic nail map-based fusion parking positioning program is configured to implement the steps of the magnetic nail map-based fusion parking positioning method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a fusion parking positioning program based on a magnetic nail map. When the fusion parking positioning program based on a magnetic nail map is executed by a processor, the steps of the fusion parking positioning method based on a magnetic nail map as described in any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the magnetic nail map-based fusion parking positioning method as claimed in any one of claims 1 to 6 are implemented.

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