Vehicle positioning calculation method, device and equipment and storage medium

Abstract

The invention discloses a vehicle positioning calculation method and device, equipment and a storage medium. The method comprises the steps that whether positioning of a vehicle in a closed scene is lost or not is judged; and if the vehicle is lost, calculating the real-time positioning coordinates of the vehicle by using the unit vector of the current direction of the vehicle, the current speed and the position coordinates obtained before positioning loss. According to the method, the current position of the vehicle can be accurately calculated under the condition that vehicle positioning is lost, the user experience is improved, and meanwhile the safety of the vehicle is guaranteed.

Description

Technical Field

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

[0002] Vehicle underground positioning technology is developing rapidly in the coal mining industry, which can improve work efficiency and safety. Unmanned driving technology in coal mines is making significant progress. The unmanned driving system can automatically control the vehicle to complete driving under complex road conditions, such as avoiding pedestrians and bypassing obstacles.

[0003] Due to environmental factors (such as obstacles or weather reasons such as rainy weather, fog, heavy snow and other bad weather that will affect the reception of GPS signals), electromagnetic interference, signal strength and other reasons, the positioning reported by the vehicle may be abnormal (the positioning coordinates cannot be obtained or the coordinate value offset exceeds the current area). When such a situation occurs, it is considered that the vehicle positioning is lost. When the vehicle positioning is lost, the positioning coordinates in the real-time data reported by the vehicle are erroneous coordinates or there is no positioning coordinate information in the real-time data reported by the vehicle, resulting in low vehicle operating efficiency and certain safety risks. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle positioning calculation method, device, equipment and storage medium, which can accurately calculate the current position of the vehicle when the vehicle positioning is lost, thereby improving the user experience and ensuring the safety of the vehicle.

[0005] In a first aspect, the present application provides a vehicle positioning calculation method, wherein the method comprises the steps of:

[0006] Determine whether the vehicle's positioning in a closed scene is lost;

[0007] If lost, the vehicle's real-time positioning coordinates are calculated using the unit vector of the vehicle's current direction, current speed, and the position coordinates obtained before the positioning was lost.

[0008] In combination with the first aspect above, as an optional implementation method, if it is determined that the calculated new coordinates are still lost, the new coordinates calculated last time are used as input to continue calculating new coordinate points until the vehicle positioning coordinates return to normal and display the coordinates.

[0009] In combination with the first aspect above, as an optional implementation method, the unit vector of the current direction of the vehicle is calculated by dividing the difference between the coordinates of the starting point and the end point of the preset driving route by the length of the route;

[0010] Get the location coordinates and current speed uploaded by the vehicle before positioning is lost;

[0011] The new coordinates of the vehicle at the next moment are calculated by multiplying the unit vector by the current speed of the vehicle and adding the position coordinates uploaded by the vehicle before the positioning is lost. The new coordinates are used as the real-time positioning coordinates of the vehicle.

[0012] In combination with the first aspect, as an optional implementation method, real-time vehicle data is obtained and reported to the Internet of Vehicles platform at a set frequency, wherein the real-time data includes: vehicle coordinates, vehicle speed, heading angle, automatic driving status and fault information;

[0013] Based on the coordinates of the vehicle in the real-time data, determining whether the vehicle is on a preset driving route;

[0014] If the coordinates of the current vehicle are within the set range, it is determined that the vehicle is on the preset driving route and the positioning of the vehicle in the closed scene is not lost;

[0015] If the current vehicle coordinates exceed the set range, and the remaining real-time data except the vehicle coordinates are normal, it is determined that the vehicle is not on the preset driving route, and it is determined that the vehicle's positioning in the closed scene is lost or offset.

[0016] In combination with the first aspect above, as an optional implementation method, the vehicle speed, heading angle, automatic driving state and fault information are obtained according to sensors provided on the vehicle;

[0017] Based on the image features and QR code positioning set in the closed scene, the coordinates of the current vehicle are determined by identifying the image features of the area and the image QR code positioning during the driving process of the autonomous driving vehicle.

[0018] In combination with the first aspect above, as an optional implementation method, if the real-time data reported by the vehicle is abnormal, it is determined that the vehicle itself has a fault and the new coordinates are not calculated.

[0019] In a second aspect, the present application provides a vehicle positioning calculation device, the device comprising:

[0020] A judgment module, which is used to judge whether the positioning of the vehicle in a closed scene is lost;

[0021] The processing module is used to calculate the real-time positioning coordinates of the vehicle by using the unit vector of the vehicle's current direction, the current speed and the position coordinates obtained before the positioning was lost.

[0022] In combination with the above-mentioned second aspect, as an optional implementation method, the processing module is also used to, if it is determined that the calculated new coordinates are still lost, continue to calculate new coordinate points based on the new coordinates calculated last time as input until the vehicle positioning coordinates return to normal, and display the coordinates.

[0023] In a third aspect, the present application further provides an electronic device, comprising: a processor; a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method described in any one of the first aspects is implemented.

[0024] In a fourth aspect, the present application further provides a computer-readable storage medium storing computer program instructions, which, when executed by a computer, enables the computer to execute any of the methods described in the first aspect.

[0025] The present application provides a vehicle positioning calculation method, device, equipment and storage medium, wherein the method includes the steps of: determining whether the vehicle positioning in a closed scene is lost; if lost, calculating the vehicle real-time positioning coordinates using the unit vector of the vehicle's current direction, the current speed and the position coordinates obtained before the positioning is lost. The present application can accurately calculate the vehicle's current position when the vehicle positioning is lost, thereby improving the user experience and ensuring the safety of the vehicle.

[0026] Therefore, how to accurately calculate the vehicle position and display it in a closed scene is a technical problem that needs to be solved urgently.

[0027] It is to be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0029] Figure 1 A flow chart of a vehicle positioning calculation method provided in an embodiment of the present application;

[0030] Figure 2 A schematic diagram of a vehicle positioning calculation device provided in an embodiment of the present application;

[0031] Figure 3 A schematic diagram of an electronic device provided in an embodiment of the present application;

[0032] Figure 4 A schematic diagram of a computer-readable program medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0034] Furthermore, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the blocks shown in the drawings are functional entities and do not necessarily correspond to physically or logically separate entities.

[0035] The embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.

[0036] Reference Figure 1 , Figure 1 FIG. 1 is a flow chart of a vehicle positioning calculation method provided by the present invention, as shown in FIG. Figure 1 As shown, the method comprises the steps of:

[0037] Step S101: Determine whether the vehicle's positioning in a closed scene is lost.

[0038] Specifically, real-time vehicle data is obtained and reported to the Internet of Vehicles platform at a set frequency. The real-time data includes: vehicle coordinates, vehicle speed, heading angle, automatic driving status and fault information;

[0039] Based on the coordinates of the vehicle in the real-time data, determining whether the vehicle is on a preset driving route;

[0040] If the coordinates of the current vehicle are within the set range, it is determined that the vehicle is on the preset driving route and the positioning of the vehicle in the closed scene is not lost;

[0041] If the current vehicle coordinates exceed the set range, and the remaining real-time data except the vehicle coordinates are normal, it is determined that the vehicle is not on the preset driving route, and it is determined that the vehicle's positioning in the closed scene is lost or offset.

[0042] For ease of understanding, an example is given. An autonomous driving vehicle travels along a fixed route issued by the Internet of Vehicles platform, and reports the vehicle's real-time data (positioning, speed, heading angle, autonomous driving status, vehicle driving status, such as tire pressure) at a certain frequency (per second); the Internet of Vehicles platform receives the real-time data reported by the vehicle and sends it to the front end; the front end displays the driving route and vehicle real-time data issued by the Internet of Vehicles platform, draws a map, and displays the vehicle mark at the corresponding position; due to environmental factors (such as obstacles or weather reasons such as rainy weather, fog, heavy snow and other bad weather that affect the reception of GPS signals), electromagnetic interference, signal strength and other reasons, the positioning reported by the vehicle may be abnormal (the positioning coordinates cannot be obtained or the coordinate value offset exceeds the current area). When this occurs, the vehicle's positioning is considered to be lost.

[0043] When the vehicle positioning is lost, the positioning coordinates in the real-time data reported by the vehicle are erroneous coordinates or there is no positioning coordinate information in the real-time data reported by the vehicle.

[0044] The following method is used to calculate whether the vehicle is on the preset driving route:

[0045] Calculate the slope and intercept of the line segment: For each pair of coordinate points (xi, yi) and (xi+1, yi+1) on the route, calculate the slope (m) and intercept (b) of the line segment:

[0046]

[0047] b=y i -m·x i

[0048] Check whether the vehicle coordinates are on the straight line: Check whether the coordinates (x, y) reported by the current vehicle satisfy the equation of the line segment y = m x + b. If so, the current coordinates are on the straight line.

[0049] If the allowed coordinate error distance is ∈ then [|y-(m·x+b)|≤∈

[0050] If the vehicle coordinates (x, y) satisfy the above conditions, then it is on the driving path.

[0051] It should be noted that for (xi, yi) and (xi+1, yi+1), it can be understood as assuming that there is a route ABC, in which the vehicle coordinates are obtained to determine whether the vehicle coordinates are near the route ABC. For example, point E is 1 meter away from path ABC, and the set rule is that the distance from the point to the straight line is within the preset distance, and it is determined to be on the path. If point E is at point A, then (xi, yi) and (xi+1, yi+1) can be understood as the coordinates of points A and B. If point E is between points AB, then (xi, yi) and (xi+1, yi+1) can also be understood as the coordinates of points A and B. If From point E to point B, (xi,yi) and (xi+1,yi+1) are the coordinates of point B and point C respectively. It can be understood that the current position of the vehicle can be calculated based on the coordinates of the current vehicle to determine between which two coordinate points the vehicle is currently located in the route. It needs to be explained that there are multiple points on the path, such as ABCDEF. When the vehicle is on the AB line segment and reaches BC, it drifts to the point where it is relatively close to the EF line segment, that is, it meets the set example with the EF line segment. At this time, because the vehicle is considered to be still traveling near the BC line segment, the distance to BC is calculated instead of the distance to EF, because the route is from A to F.

[0052] In general, whether the vehicle is on the driving route is determined by whether the vehicle coordinates and the straight-line distance are within a preset range, that is, whether the distance from the point to the straight line meets the set distance requirement.

[0053] Among them, obtaining real-time vehicle data includes: obtaining vehicle speed, heading angle, automatic driving status and fault information based on sensors installed on the vehicle; based on image features and QR code positioning set in a closed scene, the coordinates of the current vehicle are determined by identifying regional image features and image QR code positioning during the driving process of the automatic driving vehicle. It should be explained that image features can be understood as road signs, intersections, buildings, etc. These features have clear coordinates, while QR codes are set at intervals, and QR codes play an auxiliary role. It can be understood that the combination of the two can accurately obtain the coordinates of the vehicle.

[0054] In one embodiment, when the vehicle fails to be recognized due to environmental factors (ambient brightness, changes in feature points) or the vehicle's own computing resources are occupied, the current coordinate calculation will fail or an erroneous result will be obtained (there is a particularly large offset value). At this time, the vehicle coordinates are considered to be lost. This scenario is equivalent to the loss of positioning due to interference or weak signal when using GPS positioning.

[0055] Step S102: If lost, the real-time positioning coordinates of the vehicle are calculated using the unit vector of the vehicle's current direction, the current speed, and the position coordinates obtained before the positioning is lost.

[0056] Specifically, the unit vector of the vehicle's current direction is calculated by dividing the difference between the coordinates of the starting point and the end point of the preset driving route by the length of the route;

[0057] Get the location coordinates and current speed uploaded by the vehicle before positioning is lost;

[0058] The new coordinates of the vehicle at the next moment are calculated by multiplying the unit vector by the current speed of the vehicle and adding the position coordinates uploaded by the vehicle before the positioning is lost. The new coordinates are used as the real-time positioning coordinates of the vehicle.

[0059] For ease of understanding, an example is given. When the vehicle coordinates deviate from the preset driving route to a certain extent, and other real-time data reported by the vehicle (such as the vehicle's automatic driving status, vehicle speed, heading angle, and vehicle fault information) are normal, it is determined that the vehicle positioning is lost and a false alarm is generated; when the vehicle positioning is lost and a false alarm is generated, the vehicle's current coordinate point position is calculated based on the vehicle's last correct coordinates and its speed at the last coordinate.

[0060] Specifically: The vehicle's route is stored in the database as a series of ordered coordinate points. The current vehicle's coordinates can be used to calculate which two coordinate points the vehicle's current position is between in the route. The previous coordinate point is defined as [x1, y1], and the next coordinate point is defined as [x2, y2].

[0061] Calculate the unit vector of the current path direction based on these two coordinate points: The unit vector u can be obtained by dividing the difference between the starting and ending coordinates of the path by the length of the path:

[0062]

[0063] Calculate the new coordinates of the vehicle after 1 second: multiply the unit vector u by the speed s, and add the current coordinates (x, y) to get the new coordinates of the vehicle after 1 second (x′, y′):

[0064]

[0065] In one embodiment, if it is determined that the calculated new coordinates are still lost, the new coordinates calculated last time are used as input, and new coordinates are calculated continuously until the vehicle positioning coordinates return to normal, and the coordinates are displayed. That is, if the vehicle positioning continues to be lost, new coordinates are calculated continuously based on the last calculation results until the vehicle positioning coordinates return to normal, and the current coordinates of the vehicle are used for display.

[0066] In one embodiment, if the real-time data reported by the vehicle is abnormal, it is determined that the vehicle itself has a fault and no new coordinates are calculated. It is understandable that if the vehicle has a flat tire or other faults, it is a problem with the vehicle itself and the calculated coordinates are inaccurate, so the coordinates are not calculated after the vehicle has a problem.

[0067] In one embodiment, when the vehicle enters the automatic driving state, the vehicle's current state information (automatic driving state, positioning coordinates, vehicle speed, heading angle) and fault information are reported to the Internet of Vehicles platform every second.

[0068] When the vehicle positioning is offset or lost due to signal problems in some road environments, the vehicle will normally report other states (for example: vehicle automatic driving state, vehicle dispatch state, vehicle current speed, vehicle current heading angle, etc.). At the same time, the coordinates reported by the vehicle may be biased or empty. At this time, the fault information reported by the automatic driving vehicle is empty, proving that the vehicle is not in a fault state. Based on the above state, it can be considered that the vehicle's positioning is lost at this moment, but it is still in the automatic driving state and driving normally.

[0069] When the WEB front end receives the vehicle information sent by the Internet of Vehicles, it calculates whether the vehicle is on the preset route (including errors) according to the above algorithm. If it is on the preset route, it proves that the vehicle positioning has been offset or lost. At this time, the position coordinates of the vehicle on the route are calculated according to the above algorithm. The position of the vehicle is updated according to the calculated position coordinates. When the status information reported by the vehicle is received again, it is judged to be lost, and the calculation is continued according to the new coordinates calculated last time until the correct vehicle coordinate information is received. At this time, it avoids the situation where the front-end map cannot display the vehicle position when only the positioning of the vehicle is lost but other states are normal, causing users to mistakenly think that the vehicle is offline or faulty.

[0070] For ease of understanding, an example is given. Initial state: the vehicle coordinates are [0,0], and the system records the coordinates [0,0];

[0071] The vehicle drives to the coordinates [10.1, 10.1] and reports the coordinates [10, 10]. The system estimates the coordinates [10, 10]. The calculation error is less than 5%, so the vehicle coordinates are considered normal and the vehicle reported coordinates [10.1, 10.1] are used.

[0072] The vehicle drives to the coordinates [20.1,20.1] and reports the coordinates [100,100]. The system estimates the coordinates [20,20]. If the error exceeds 5%, the coordinates are considered lost and the estimated coordinates [20,20] are used.

[0073] The vehicle drives to the coordinates [30.1,30.1] and reports the coordinates [100,100]. The system estimates the coordinates [30,30]. If the error exceeds 5%, the coordinates are considered lost and the estimated coordinates [30,30] are used.

[0074] The vehicle drives to the coordinates [40.1,40.1] and reports the coordinates [40,40]. The system estimates the coordinates [40,40]. If the error is less than 5%, the system considers the vehicle's reported coordinates to be normal and uses the vehicle's reported coordinates [40,40].

[0075] In summary, this application can predict the position of an autonomous driving vehicle traveling on a fixed route when only its positioning is lost; the front end displays the prediction result to avoid the situation where the position of the vehicle cannot be displayed on the interface when only the positioning is lost and other states are normal. This improves the user experience and avoids the situation where only the positioning is lost, causing the vehicle to disappear on the map or be displayed at the wrong coordinates.

[0076] Reference Figure 2 , Figure 2 FIG. 1 is a schematic diagram of a vehicle positioning calculation device provided by the present invention, such as Figure 2 As shown, the device comprises:

[0077] The judgment module 201 is used to judge whether the positioning of the vehicle in the closed scene is lost.

[0078] Processing module 202: It is used to calculate the real-time positioning coordinates of the vehicle by using the unit vector of the vehicle's current direction, the current speed and the position coordinates obtained before the positioning is lost.

[0079] Furthermore, in a possible implementation, the processing module is also used to, if it is determined that the calculated new coordinates are still lost, continue to calculate new coordinate points based on the new coordinates calculated last time as input until the vehicle positioning coordinates return to normal, and display the coordinates.

[0080] Furthermore, in a possible implementation manner, the processing module is further configured to calculate a unit vector of the current direction of the vehicle by dividing a difference between the coordinates of a starting point and an end point of a preset driving route by the length of the route;

[0081] Get the location coordinates and current speed uploaded by the vehicle before positioning is lost;

[0082] The new coordinates of the vehicle at the next moment are calculated by multiplying the unit vector by the current speed of the vehicle and adding the position coordinates uploaded by the vehicle before the positioning is lost. The new coordinates are used as the real-time positioning coordinates of the vehicle.

[0083] Furthermore, in a possible implementation manner, the judgment module is further used to obtain real-time vehicle data and report the real-time data to the Internet of Vehicles platform at a set frequency, wherein the real-time data includes: vehicle coordinates, vehicle speed, heading angle, automatic driving status and fault information;

[0084] Based on the coordinates of the vehicle in the real-time data, determining whether the vehicle is on a preset driving route;

[0085] If the coordinates of the current vehicle are within the set range, it is determined that the vehicle is on the preset driving route and the positioning of the vehicle in the closed scene is not lost;

[0086] If the current vehicle coordinates exceed the set range, and the remaining real-time data except the vehicle coordinates are normal, it is determined that the vehicle is not on the preset driving route, and it is determined that the vehicle's positioning in the closed scene is lost or offset.

[0087] Furthermore, in a possible implementation manner, the judgment module is further used to obtain vehicle speed, heading angle, automatic driving state and fault information according to sensors provided on the vehicle;

[0088] Based on the image features and QR code positioning set in the closed scene, the coordinates of the current vehicle are determined by identifying the image features of the area and the image QR code positioning during the driving process of the autonomous driving vehicle.

[0089] Furthermore, in a possible implementation manner, the judgment module is also used to judge that the vehicle itself has a fault if the real-time data reported by the vehicle is abnormal, and not calculate the new coordinates.

[0090] Refer to the following Figure 3 The electronic device 300 according to this embodiment of the present invention will be described. Figure 3 The electronic device 300 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0091] like Figure 3 As shown, the electronic device 300 is in the form of a general computing device. The components of the electronic device 300 may include but are not limited to: at least one processing unit 310, at least one storage unit 320, and a bus 330 connecting different system components (including the storage unit 320 and the processing unit 310).

[0092] The storage unit stores program codes, which can be executed by the processing unit 310, so that the processing unit 310 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0093] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 321 and / or a cache memory unit 322 , and may further include a read-only memory unit (ROM) 323 .

[0094] The storage unit 320 may also include a program / utility 324 having a set (at least one) of program modules 325, such program modules 325 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0095] Bus 330 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0096] The electronic device 300 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 300, and / or communicate with any device that enables the electronic device 300 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 350. Furthermore, the electronic device 300 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 360. As shown, the network adapter 360 communicates with other modules of the electronic device 300 via a bus 330. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0097] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0098] According to the solution of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present invention can also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present invention described in the above "Exemplary Method" section of the present specification.

[0099] refer to Figure 4 As shown, a program product 400 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0100] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0101] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0102] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0103] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0104] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0105] In summary, the present application provides a vehicle positioning calculation method, device, equipment and storage medium, wherein the method includes the steps of: determining whether the positioning of the vehicle in a closed scene is lost; if lost, calculating the real-time positioning coordinates of the vehicle using the unit vector of the vehicle's current direction, the current speed and the position coordinates obtained before the positioning is lost. The present application can accurately calculate the current position of the vehicle when the vehicle positioning is lost, thereby improving the user experience and ensuring the safety of the vehicle.

[0106] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

[0107] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

Claims

1. A vehicle positioning calculation method, characterized in that: include: Determine whether the vehicle's positioning in a closed scene is lost; If lost, the vehicle's real-time positioning coordinates are calculated using the unit vector of the vehicle's current direction, current speed, and the position coordinates obtained before the positioning was lost.

2. The method according to claim 1, characterized in that After calculating the real-time positioning coordinates of the vehicle, the method includes: If it is determined that the calculated new coordinates are still lost, the new coordinates calculated last time are used as input to continue calculating new coordinate points until the vehicle positioning coordinates return to normal and display the coordinates.

3. The method according to claim 1, characterized in that: The method of calculating the real-time positioning coordinates of the vehicle by using the unit vector of the current direction of the vehicle, the speed and the position coordinates obtained before the positioning is lost includes: The unit vector of the vehicle's current direction is calculated by dividing the difference between the coordinates of the starting point and the end point of the preset driving route by the length of the route; Get the location coordinates and current speed uploaded by the vehicle before positioning is lost; The new coordinates of the vehicle at the next moment are calculated by multiplying the unit vector by the current speed of the vehicle and adding the position coordinates uploaded by the vehicle before the positioning is lost. The new coordinates are used as the real-time positioning coordinates of the vehicle.

4. The method according to claim 1, characterized in that: The determining whether the positioning of the vehicle in the closed scene is lost includes: Acquire real-time vehicle data and report the real-time data to the Internet of Vehicles platform at a set frequency. The real-time data includes: vehicle coordinates, speed, heading angle, automatic driving status and fault information; Based on the coordinates of the vehicle in the real-time data, determining whether the vehicle is on a preset driving route; If the coordinates of the current vehicle are within the set range, it is determined that the vehicle is on the preset driving route and the positioning of the vehicle in the closed scene is not lost; If the current vehicle coordinates exceed the set range, and the remaining real-time data except the vehicle coordinates are normal, it is determined that the vehicle is not on the preset driving route, and it is determined that the vehicle's positioning in the closed scene is lost or offset.

5. The method according to claim 4, characterized in that The obtaining of real-time vehicle data includes: Obtain vehicle speed, heading angle, automatic driving status and fault information based on sensors installed on the vehicle; Based on the image features and QR code positioning set in the closed scene, the coordinates of the current vehicle are determined by identifying the image features of the area and the image QR code positioning during the driving process of the autonomous driving vehicle.

6. The method according to claim 1, characterized in that Also includes: If the real-time data reported by the vehicle is abnormal, it is judged that the vehicle itself has a fault and the new coordinates will not be calculated.

7. A vehicle positioning calculation device, characterized in that: include: A judgment module, which is used to judge whether the positioning of the vehicle in a closed scene is lost; The processing module is used to calculate the real-time positioning coordinates of the vehicle by using the unit vector of the vehicle's current direction, the current speed and the position coordinates obtained before the positioning was lost.

8. The device according to claim 7, characterized in that The processing module is also used to, if it is determined that the calculated new coordinates are still lost, continue to calculate new coordinate points based on the new coordinates calculated last time as input until the vehicle positioning coordinates return to normal, and display the coordinates.

9. An electronic device, characterized in that: The electronic device comprises: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium, characterized in that: The computer program instructions are stored therein, and when the computer program instructions are executed by a computer, the computer is caused to execute the method according to any one of claims 1 to 6.

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