Vehicle positioning method, device, equipment and storage medium based on dual anchor points

Abstract

The present application discloses a vehicle positioning method, device, equipment and storage medium based on dual anchor points, and relates to the field of vehicle positioning technology. The present application first establishes communication with a positioning base station to determine a building target that can be used as an anchor point, then obtains an all-round environmental image and obtains an anchor area image through image matching and boundary clipping. Next, the actual spatial distance and azimuth between the anchor point and the vehicle are calculated using graphic parameters and real-life distance conversion data to form one-way positioning data. Finally, a set of directed angles and actual spatial distances formed between the anchor point area and the vehicle are calculated, combined with the re-positioning data of the positioning base station, and the accurate spatial positioning result of the vehicle is corrected. By utilizing existing base stations and electronic map resources, there is no need to perform expensive hardware upgrades or add high-performance computing units to old models, which greatly reduces the cost of vehicle positioning and has wide applicability.

Description

Technical Field

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

[0002] With the rapid development of science and technology, intelligent transportation systems have become an important development direction in the global transportation field. Vehicle positioning technology, as a core component of intelligent transportation systems, is crucial to realizing functions such as vehicle navigation, traffic monitoring, and autonomous driving.

[0003] Currently, vehicle positioning mainly relies on the Global Positioning System (GPS) and other satellite navigation systems. These systems can provide relatively accurate positioning services in open areas, but in urban environments, for old models, they often lack modern positioning hardware and sufficient computing power, making it difficult to integrate the latest positioning technology, which limits their participation in intelligent transportation systems.

[0004] Therefore, how to provide a cost-effective and easily retrofittable positioning solution for these old vehicles is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0005] The main purpose of this application is to provide a vehicle positioning method, device, equipment and storage medium based on dual anchor points, aiming to solve the technical problem of how to provide a cost-effective and easy-to-retrofit positioning solution for old vehicles.

[0006] To achieve the above object, the present application provides a vehicle positioning method based on dual anchor points, the method comprising the following steps: In response to the positioning requirement information, acquiring an anchor point area image; Obtaining one-way positioning data of the anchor point area and the vehicle to be positioned according to the anchor point area image; A spatial positioning result of the vehicle to be positioned is obtained based on the one-way positioning data of at least two of the anchor point areas and the vehicle to be positioned.

[0007] Optionally, acquiring the anchor point area image in response to the positioning requirement information includes: In response to the positioning requirement information, an all-round environment image at the current moment is obtained; Dividing the omnidirectional environment image into equal widths according to azimuth angles to obtain a plurality of omnidirectional sub-images; Matching the anchor image feature with the omnidirectional sub-image to determine the sub-image containing the anchor image feature; Based on the anchor point image feature, the sub-image is subjected to boundary cropping to obtain the anchor point region image.

[0008] Optionally, before acquiring the anchor point area image, the method further includes: In response to the positioning requirement information, establishing communication links with at least two positioning base stations; Taking a building that meets the anchor image visualization condition within the preset range of the positioning base station as an anchor target; The three-dimensional structure information of the anchor target is obtained, and the three-dimensional structure information is used as the anchor image feature.

[0009] Optionally, taking a building within a preset range of the positioning base station that meets an anchor image visualization condition as an anchor target includes: Obtain a list of buildings within a preset range of the positioning base station, wherein the list of buildings is arranged according to building heights; The building whose height is greater than the preset anchor point visualization height is selected as a candidate building; Acquire appearance information of the candidate building, evaluate the appearance information using an anchor building discrimination evaluation model, and obtain a discrimination evaluation result of the candidate building; The anchor target is determined according to the ranking result of the discrimination evaluation results of the candidate buildings.

[0010] Optionally, obtaining one-way positioning data of the anchor point area and the vehicle to be positioned according to the anchor point area image includes: According to the anchor point area image, obtaining the azimuth of the anchor point target in the omnidirectional environment image; Acquire graphic parameters of the anchor point area image in the omnidirectional environment image, wherein the graphic parameters include graphic frame data and pixel point data; According to the graphic parameters and the real-view distance conversion reference data, the actual spatial distance of the anchor point target relative to the vehicle to be positioned is obtained; The actual spatial distance of the anchor target relative to the vehicle to be positioned and the azimuth of the anchor target in the omnidirectional environment image are used as one-way positioning data between the anchor area and the vehicle to be positioned.

[0011] Optionally, obtaining the spatial positioning result of the vehicle to be positioned according to the one-way positioning data of at least two of the anchor point areas and the vehicle to be positioned includes: Obtaining a directed angle formed by the anchor point area and the vehicle to be positioned according to the azimuth angle of the anchor point area image in the omnidirectional environment image and the azimuth angle of another anchor point area in the omnidirectional environment image; Obtaining an initial positioning result of the vehicle to be positioned according to the actual spatial distance and the directed angle of the anchor target relative to the vehicle to be positioned and the actual spatial distance of the anchor target relative to the vehicle to be positioned; The initial positioning result is corrected according to the positioning base station re-positioning data to obtain the spatial positioning result of the vehicle to be positioned.

[0012] Optionally, the initial positioning result is corrected according to the positioning base station re-positioning data to obtain the spatial positioning result of the vehicle to be positioned, including: Acquire communication delay ranging data of the positioning base station corresponding to the vehicle to be positioned and the anchor target; Obtaining distance information between the vehicle to be located and the positioning base station according to the communication delay ranging data; Obtaining a calibration reference positioning result according to the latitude and longitude positions of the positioning base station and the distance information between the vehicle to be positioned and the positioning base station; The initial positioning result is corrected according to the calibration reference positioning result to obtain the spatial positioning result of the vehicle to be positioned.

[0013] In addition, to achieve the above-mentioned purpose, the present application also provides a vehicle positioning device based on dual anchor points, and the vehicle positioning device based on dual anchor points includes: An anchor point image processing module, used for obtaining an anchor point area image in response to positioning requirement information; A positioning data processing module, used to obtain one-way positioning data of the anchor point area and the vehicle to be positioned according to the anchor point area image; The positioning data processing module is further used to obtain the spatial positioning result of the vehicle to be positioned based on the one-way positioning data of at least two anchor point areas and the vehicle to be positioned.

[0014] In addition, to achieve the above-mentioned purpose, the present application also provides a vehicle positioning device based on dual anchor points, the device comprising: a memory, a processor, and a vehicle positioning program based on dual anchor points stored in the memory and executable on the processor, the vehicle positioning program based on dual anchor points being configured to implement the steps of the vehicle positioning method based on dual anchor points as described above.

[0015] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, on which a vehicle positioning program based on dual anchor points is stored. When the vehicle positioning program based on dual anchor points is executed by a processor, the steps of the vehicle positioning method based on dual anchor points as described above are implemented.

[0016] The present application obtains lane information in response to an automatic lane change instruction; plans a lane change path according to the lane information; and controls the vehicle to complete the automatic lane change based on the lane change path and the real-time position of the vehicle.

[0017] In summary, the present application first establishes communication with the positioning base station to determine the building target that can be used as an anchor point, then obtains an all-round environmental image and obtains the anchor area image through image matching and boundary clipping. Next, the actual spatial distance and azimuth between the anchor point and the vehicle are calculated using the graphic parameters and real-life distance conversion data to form one-way positioning data. Finally, by calculating a set of directed angles and actual spatial distances formed between the anchor point area and the vehicle, combined with the re-positioning data of the positioning base station, the vehicle's precise spatial positioning result is corrected. By utilizing existing base stations and electronic map resources, there is no need to perform expensive hardware upgrades on old models or add high-performance computing units, which greatly reduces the cost of vehicle positioning and has wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 This is a flow chart of the first embodiment of the vehicle positioning method based on dual anchor points of the present application; Figure 2 This is a flow chart of a second embodiment of the vehicle positioning method based on dual anchor points of the present application; Figure 3 This is a flow chart of a third embodiment of the vehicle positioning method based on dual anchor points of the present application; Figure 4 This is a schematic diagram of the functional modules of the vehicle positioning device based on dual anchor points of the present application; Figure 5 It is a structural diagram of a terminal device in the hardware operating environment involved in the embodiment of the present application.

[0021] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0022] 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.

[0023] 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.

[0024] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle positioning device based on dual anchor points, etc. The following takes a vehicle positioning device based on dual anchor points as an example to illustrate this embodiment and the following embodiments.

[0025] The present application embodiment provides a vehicle positioning method based on dual anchor points. Figure 1 , Figure 1 This is a flow chart of the first embodiment of the present application.

[0026] In this embodiment, the vehicle positioning method based on dual anchor points includes: Step S10: In response to the positioning requirement information, an anchor point area image is acquired.

[0027] It should be noted that this solution adopts a communication plus pure vision positioning solution, which does not require traditional positioning chips, positioning systems and corresponding software and hardware requirements. Therefore, it only needs to meet basic communication capabilities and visual processing capabilities.

[0028] It can be understood that the core idea of ​​this solution is to establish a connection with a communication base station with a known map coordinate position, and then check the landmark buildings within a certain range of the base station as anchor buildings for visual positioning, and use the image system to capture the orientation of at least two anchor buildings for positioning. Combined with the data transmission interval when the vehicle communicates with the base station, the distance relationship between the vehicle and the two base stations can be obtained. Since the latitude and longitude coordinates of the base station and the coordinates of the anchor buildings are fixed, the overall process has less data processing and fewer links that produce errors. The overall positioning of the vehicle can be completed without relying on higher computing power.

[0029] It should be understood that the capture of anchor buildings and the acquisition of positioning results require the combination of at least two anchor buildings. This is because the positions of both the anchor buildings and the communication base stations on the map are known, but the visual angle formed between the vehicle to be positioned and the two anchor buildings is fixed. The only possible position of the vehicle to be positioned on the map can be determined by eliminating virtual roots through simple geometric calculations.

[0030] In one embodiment, before acquiring the anchor area image, it also includes: establishing communication links with at least two positioning base stations in response to positioning demand information; taking buildings within the preset range of the positioning base station that meet the anchor image visualization conditions as anchor targets; acquiring three-dimensional structure information of the anchor target, and taking the three-dimensional structure information as anchor image features.

[0031] It should be noted that the reason for selecting a building that meets certain conditions within the preset range of the positioning base station as an anchor target is that driving in an area with a large number of high-rise buildings will cause greater obstruction, so the purely visual positioning solution needs to eliminate this interference as much as possible. Therefore, in this embodiment, the building used as the anchor target generally needs to meet the following conditions: first, the building must be a high-rise building within 1 to 3 km of the communication base station; secondly, there must be no adjacent high buildings near the building; finally, a certain degree of visual distinction must be ensured.

[0032] Preferably, if the positioning base station here is not a common roadside base station, but a base station in the form of a communication tower, then the base station can be directly used as an anchor building. It can be understood that communication towers are generally of higher building height and have a higher degree of distinction in the pure visual recognition process, and are more suitable as anchor points than urban buildings.

[0033] It is understandable that whether the anchor building is too close or too far from the base station, it is easy to affect the subsequent position calculation. Therefore, only buildings within 1~3km are selected. In addition, high-rise buildings are selected to reduce occlusion. During the selection process, nearby buildings with adjacent heights are excluded. This can reduce the errors in the subsequent anchor building recognition. In addition, buildings with higher visual distinction are selected as anchor buildings as much as possible, which is conducive to subsequent feature matching and speeds up the recognition process.

[0034] It should be understood that the most ideal situation of this scheme is that the vehicle to be positioned, the positioning base station, and the anchor point building form a distribution close to an equilateral triangle in space, which can reduce the error in calculating the visual angle formed with another anchor point building.

[0035] In one embodiment, taking a building within a preset range of the positioning base station that meets an anchor image visualization condition as an anchor target includes: obtaining a building list within a preset range of the positioning base station, wherein the building list is arranged according to building heights; taking a building whose building height is greater than a preset anchor visualization height as a candidate building; obtaining appearance information of the candidate building, and evaluating the appearance information through an anchor building discrimination evaluation model to obtain a discrimination evaluation result of the candidate building; and determining the anchor target according to a sorting result of the discrimination evaluation result of the candidate building.

[0036] It is understandable that in this process, the system will obtain a list of buildings within the preset range of the positioning base station. This list is arranged according to the building height. The purpose of this is to quickly identify the buildings in the area that are highly prominent and easy to identify from the visual image, and then screen out the buildings whose building height is greater than the preset anchor point visualization height as candidate buildings. For the candidate buildings, the system will obtain their appearance information and use the anchor point building discrimination evaluation model to evaluate this appearance information. The evaluation model here is deep learning or other image processing technology to determine the visual discrimination of the building. The visual discrimination of the building is mainly reflected in the shape, style, color and material of the building, and also includes the spatial relationship between the building and the adjacent buildings.

[0037] Step S20: obtaining one-way positioning data of the anchor point area and the vehicle to be positioned according to the anchor point area image.

[0038] It should be noted that, since the vehicle to be positioned takes a 360° panoramic view at certain angular intervals during visual capture, that is, after each photo is taken, it will rotate a certain angle in a fixed direction to take another photo. Generally, 12 or even 24 photos are required to complete a circle. The azimuth of the anchor area relative to the vehicle can be roughly determined according to the position of the anchor area image in the all-round photo. Combined with the size of the anchor building in the full-frame photo, the distance between the vehicle and the anchor building can be roughly estimated according to the principle of "near is big and far is small".

[0039] It can be understood that the one-way positioning data specifically includes the distance and azimuth between the vehicle to be positioned and the anchor building. In subsequent calculations, a relatively accurate positioning result can be obtained through the one-way positioning data of at least two different anchor areas and the vehicle to be positioned.

[0040] It should be understood that in practical applications, there are many factors that may affect positioning accuracy, such as image noise, camera distortion, environmental changes, etc. These factors may affect the recognition of anchor building features and the estimation of distance azimuth. Therefore, by taking multiple pictures and analyzing the performance of anchor buildings from different perspectives, redundant information can be used to improve positioning accuracy.

[0041] Step S30: obtaining a spatial positioning result of the vehicle to be positioned according to the one-way positioning data of at least two of the anchor point areas and the vehicle to be positioned.

[0042] It should be noted that, in theory, the spatial distance between the anchor area and the vehicle to be located can be determined directly through pure visual algorithms using spherical trigonometry and other means. Combined with the known positions of the base stations and anchor buildings on the map, the position of the vehicle to be located on the map can be almost directly determined. However, when there is only one anchor point, the positioning result will have a virtual root. Therefore, at least two anchor points must be combined for positioning to obtain an accurate position.

[0043] It can be understood that due to the existence of errors, the errors of this method are arranged in order of size and mainly come from the visual calculation distance from the anchor building to the vehicle to be located, the image angle formed by the two anchor buildings, and the communication distance between the vehicle to be located and the base station. Therefore, in the calculation process, try to call these data in a certain order. In addition, the location information of the positioning base station and the location information of the anchor building in this method are relatively accurate, because this is the data that is not involved in the calculation process but is directly called.

[0044] It should be understood that in addition to obtaining positioning results from a purely visual perspective, it is also possible to combine communication with a base station to obtain a relatively accurate communication distance as reference data to correct the initial positioning results, which can reduce errors to a certain extent.

[0045] Combining visual data with communication data can improve the accuracy and robustness of positioning. This data fusion method can make up for the shortcomings of a single data source and provide more comprehensive positioning information.

[0046] The present application obtains lane information in response to an automatic lane change instruction; plans a lane change path according to the lane information; and controls the vehicle to complete the automatic lane change based on the lane change path and the real-time position of the vehicle.

[0047] In summary, the present application first establishes communication with the positioning base station to determine the building target that can be used as an anchor point, then obtains an all-round environmental image and obtains the anchor area image through image matching and boundary clipping. Next, the actual spatial distance and azimuth between the anchor point and the vehicle are calculated using the graphic parameters and real-life distance conversion data to form one-way positioning data. Finally, by calculating a set of directed angles and actual spatial distances formed between the anchor point area and the vehicle, combined with the re-positioning data of the positioning base station, the vehicle's precise spatial positioning result is corrected. By utilizing existing base stations and electronic map resources, there is no need to perform expensive hardware upgrades on old models or add high-performance computing units, which greatly reduces the cost of vehicle positioning and has wide applicability.

[0048] Reference Figure 2 , Figure 2This is a flow chart of a second embodiment of a vehicle positioning method based on dual anchor points of the present application. Based on the above first embodiment, a second embodiment of a vehicle positioning method based on dual anchor points of the present application is proposed.

[0049] In this embodiment, the step S20 includes: Step S201: obtaining the azimuth of the anchor point target in the omnidirectional environment image according to the anchor point area image.

[0050] It should be noted that, since a series of images at different angles will be captured during the omnidirectional shooting process, an image in which the anchor area is as close to the central axis of the image as possible is generally selected as the basic positioning image. For example, in one embodiment, 24 images are captured in one circle, and the distribution angle of one image is 15°. Assuming that the anchor building image is closest to the central axis of the image in the 6th image, and is within 1 / 2 to 3 / 4 of the frame to the right of the central axis, combined with the horizontal position of the anchor building in the image, it can be roughly determined that the azimuth angle of the anchor image is approximately 84.375°.

[0051] Step S202: Obtaining graphic parameters of the anchor point area image in the omnidirectional environment image, wherein the graphic parameters include graphic frame data and pixel point data.

[0052] It should be noted that the image frame here refers to the image frame formed by the boundary of the anchor building on the image. The distance between the anchor building and the photo point is roughly calculated based on the size of the frame in the image and the known information of the anchor building (building height or building width).

[0053] It can be understood that in addition to directly calculating the relative distance, by calculating the number of pixels covered by the anchor feature frame, the feature frame of the anchor point in the image will also move and change in size when it moves. The relative position of the target object is determined by the different position coordinates of the feature frame and the number of pixels covered. By calibrating different position points multiple times, relatively accurate position information of the target object can be obtained.

[0054] Step S203: converting reference data according to the graphic parameters and the real-scene distance to obtain the actual spatial distance of the anchor point target relative to the vehicle to be positioned.

[0055] It is understandable that the process of converting graphic parameters in an image (such as the size of the image frame and pixel data) into actual spatial distance requires a set of reference data, namely, real-scene distance conversion reference data. These data can be obtained in advance through field measurements or known building dimensions and are used to calibrate the relationship between image data and actual distance.

[0056] It should be understood that by comparing the feature box of the anchor building in the image with the known size, the actual distance can be calculated using the principle of similar triangles or other geometric relationships. For example, if the actual height of the building and its height in the image, as well as the focal length of the camera, are known, the distance between the building and the camera can be estimated.

[0057] Step S204: taking the actual spatial distance of the anchor target relative to the vehicle to be positioned and the azimuth of the anchor target in the omnidirectional environment image as one-way positioning data between the anchor area and the vehicle to be positioned.

[0058] It can be understood that the actual spatial distance and azimuth of the two key data anchor target obtained in the previous steps are combined to form one-way positioning data. Such a set of data is the basic information in the vehicle positioning system. The combination of actual spatial distance and azimuth here provides a two-dimensional position of the vehicle relative to the anchor target. In actual applications, such a set of one-way positioning data will be updated in real time to adapt to the movement of the vehicle and changes in the environment, ensuring the real-time and accuracy of the positioning information.

[0059] This embodiment obtains the azimuth of the anchor target in the omnidirectional environment image through the anchor area image; obtains graphic parameters of the anchor area image in the omnidirectional environment image, and the graphic parameters include graphic frame data and pixel point data; obtains the actual spatial distance of the anchor target relative to the vehicle to be positioned based on the graphic parameters and real-scene distance conversion reference data; and uses the actual spatial distance of the anchor target relative to the vehicle to be positioned and the azimuth of the anchor target in the omnidirectional environment image as one-way positioning data of the anchor area and the vehicle to be positioned.

[0060] In summary, this method of the present embodiment does not rely on traditional positioning chips and systems, but utilizes pure visual information and real-scene reference data. This embodiment does not require expensive positioning chips or complex sensor arrays, reduces dependence on the vehicle's original hardware, and can adapt to different lighting conditions and weather changes through multiple anchor points and visual data, rather than a single external signal source, thereby improving positioning accuracy.

[0061] Reference Figure 3 , Figure 3 This is a flow chart of the second embodiment of the vehicle positioning method based on dual anchor points of the present application. Based on the above first embodiment, a third embodiment of the vehicle positioning method based on dual anchor points of the present application is proposed.

[0062] In this embodiment, the step S30 includes: Step S301: obtaining a directed angle formed between the anchor point area and the vehicle to be located according to the azimuth angle of the anchor point area image in the omnidirectional environment image and the azimuth angle of another anchor point area in the omnidirectional environment image.

[0063] It should be noted that, since there is only one angle formed by the two anchor point areas connecting the vehicle to be positioned when the direction is taken into consideration, only one directed angle will be generated.

[0064] It is understandable that, since the anchor point image has a certain width in the full-frame image, the angle formed by the central axes of the two anchor point areas and the vehicle is selected as the directed angle during the angle calculation process.

[0065] Step S302: obtaining an initial positioning result of the vehicle to be positioned according to the actual spatial distance and the directed angle between the anchor target and the vehicle to be positioned and the actual spatial distance between the anchor target and the vehicle to be positioned.

[0066] It can be understood that this step is to calculate the initial positioning result of the vehicle to be located by combining the actual spatial distance and the directed angle of the anchor target, which usually involves triangulation or multilateral measurement technology. On the basis of the longitude and latitude coordinates of two known basic points, combined with the distance between these two basic points and the vehicle to be located and the size of the angle formed, the distance-based positioning result and the angle-based positioning result can be calculated respectively, and then the two results can be combined to obtain the initial positioning result based on the pure visual route.

[0067] Step S303: correcting the initial positioning result according to the positioning base station re-positioning data to obtain the spatial positioning result of the vehicle to be positioned.

[0068] In one embodiment, the initial positioning result is corrected according to the re-positioning data of the positioning base station to obtain the spatial positioning result of the vehicle to be positioned, including: acquiring communication delay ranging data of the positioning base station corresponding to the vehicle to be positioned and the anchor target; obtaining distance information between the vehicle to be positioned and the positioning base station according to the communication delay ranging data; obtaining a calibration reference positioning result according to the latitude and longitude positions of the positioning base station and the distance information between the vehicle to be positioned and the positioning base station; and correcting the initial positioning result according to the calibration reference positioning result to obtain the spatial positioning result of the vehicle to be positioned.

[0069] It should be noted that the distance between the vehicle and the positioning base station can be calculated using the communication delay ranging data. The signal propagation speed (such as the speed of light) is usually taken into consideration to ensure the accuracy of the distance calculation. Combined with the precise longitude and latitude position of the positioning base station and the distance information between the vehicle and the base station, a calibration reference positioning result can be calculated. This result is used to correct the initial positioning result.

[0070] It can be understood that by combining visual positioning data and communication positioning data, the robustness and accuracy of the positioning system can be improved. This approach can reduce the errors that may be introduced by a single data source.

[0071] This embodiment obtains the azimuth of the anchor target in the omnidirectional environment image through the anchor area image; obtains graphic parameters of the anchor area image in the omnidirectional environment image, and the graphic parameters include graphic frame data and pixel point data; obtains the actual spatial distance of the anchor target relative to the vehicle to be positioned based on the graphic parameters and real-scene distance conversion reference data; and uses the actual spatial distance of the anchor target relative to the vehicle to be positioned and the azimuth of the anchor target in the omnidirectional environment image as one-way positioning data of the anchor area and the vehicle to be positioned.

[0072] In summary, by utilizing the azimuth angles and actual spatial distances of the two anchor point regions, this method can reduce the error that may be introduced by a single anchor point, thereby improving the accuracy of positioning. Combining visual positioning and communication positioning data, this method can provide stable positioning results in a variety of environments, and maintain high positioning performance even when visual information is limited or communication signals are unstable.

[0073] Reference Figure 4 The present application also provides a vehicle positioning device based on dual anchor points, the vehicle positioning device based on dual anchor points comprising: An anchor point image processing module 10, used to obtain an anchor point area image in response to positioning requirement information; A positioning data processing module 20 is used to obtain one-way positioning data of the anchor point area and the vehicle to be positioned according to the anchor point area image; The positioning data processing module 20 is further used to obtain a spatial positioning result of the vehicle to be positioned according to the one-way positioning data of at least two anchor point areas and the vehicle to be positioned.

[0074] In one embodiment, the anchor image processing module 10 is further used to respond to positioning requirement information to obtain an all-round environment image at the current moment; divide the all-round environment image into equal widths according to azimuth angles to obtain multiple all-round sub-images; match the anchor image features with the all-round sub-images to determine the sub-image containing the anchor image features; and based on the anchor image features, perform boundary cropping on the sub-image to obtain the anchor area image.

[0075] In one embodiment, the anchor image processing module 10 is further used to establish communication links with at least two positioning base stations in response to positioning demand information; use buildings within a preset range of the positioning base station that meet the anchor image visualization conditions as anchor targets; obtain three-dimensional structure information of the anchor target, and use the three-dimensional structure information as anchor image features.

[0076] In one embodiment, the anchor image processing module 10 is further used to obtain a list of buildings within a preset range of the positioning base station, wherein the list of buildings is arranged according to building heights; buildings whose building heights are greater than a preset anchor visualization height are used as candidate buildings; appearance information of the candidate buildings is obtained, and the appearance information is evaluated using an anchor building discrimination evaluation model to obtain a discrimination evaluation result of the candidate building; and the anchor target is determined based on the sorting result of the discrimination evaluation result of the candidate building.

[0077] In one embodiment, the positioning data processing module 20 is further used to obtain the azimuth of the anchor target in the omnidirectional environment image based on the anchor area image; obtain graphic parameters of the anchor area image in the omnidirectional environment image, the graphic parameters including graphic frame data and pixel point data; obtain the actual spatial distance of the anchor target relative to the vehicle to be positioned based on the graphic parameters and real-scene distance conversion reference data; and use the actual spatial distance of the anchor target relative to the vehicle to be positioned and the azimuth of the anchor target in the omnidirectional environment image as one-way positioning data of the anchor area and the vehicle to be positioned.

[0078] In one embodiment, the positioning data processing module 20 is further used to obtain a directed angle formed by the anchor point area and the vehicle to be positioned based on the azimuth of the anchor point area image in the all-round environment image and the azimuth of another anchor point area in the all-round environment image; obtain an initial positioning result of the vehicle to be positioned based on the actual spatial distance of the anchor point target relative to the vehicle to be positioned, the directed angle, and the actual spatial distance of the anchor point target relative to the vehicle to be positioned; and correct the initial positioning result based on the re-positioning data of the positioning base station to obtain the spatial positioning result of the vehicle to be positioned.

[0079] In one embodiment, the positioning data processing module 20 is further used to obtain the communication delay ranging data of the positioning base station corresponding to the vehicle to be positioned and the anchor target; obtain the distance information between the vehicle to be positioned and the positioning base station based on the communication delay ranging data; obtain a calibration reference positioning result based on the longitude and latitude positions of the positioning base station and the distance information between the vehicle to be positioned and the positioning base station; correct the initial positioning result based on the calibration reference positioning result to obtain the spatial positioning result of the vehicle to be positioned.

[0080] Reference below Figure 5 , which shows a schematic diagram of the structure of a dual-anchor-based vehicle positioning device suitable for implementing the embodiment of the present application. The dual-anchor-based vehicle positioning device 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. Figure 5 The dual-anchor-based vehicle positioning device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0081] like Figure 5As shown, the vehicle positioning device based on dual anchors 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 a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the vehicle positioning device based on dual anchors are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may 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 may allow the dual-anchor-based vehicle positioning device to communicate with other devices wirelessly or by wire to exchange data. Although the dual-anchor-based vehicle positioning device with various systems is shown in the figure, 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.

[0082] 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.

[0083] The dual-anchor-based vehicle positioning device provided by the present application adopts the dual-anchor-based vehicle positioning method in the above-mentioned embodiment, which can solve the technical problem in the art of how to provide a cost-effective and easy-to-refit positioning solution for old vehicles. Compared with the prior art, the beneficial effects of the dual-anchor-based vehicle positioning device provided by the present application are the same as the beneficial effects of the dual-anchor-based vehicle positioning method provided by the above-mentioned embodiment, and the other technical features of the dual-anchor-based vehicle positioning device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0084] 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.

[0085] 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.

[0086] The present application also provides a storage medium, on which a dual-anchor-based vehicle positioning program is stored. When the dual-anchor-based vehicle positioning program is executed by a processor, the steps of any of the dual-anchor-based vehicle positioning methods described above are implemented.

[0087] The 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 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: RandomAccess Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0088] The storage medium may be included in the vehicle positioning device based on dual anchor points; or may exist independently without being assembled into the vehicle positioning device based on dual anchor points.

[0089] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by a vehicle positioning device based on dual anchor points, the vehicle positioning device based on dual anchor points: obtains lane information in response to an automatic lane change instruction; plans a lane change path based on the lane information; and controls the vehicle to complete automatic lane change based on the lane change path and the real-time position of the vehicle.

[0090] 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).

[0091] 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.

[0092] 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.

[0093] The storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle positioning method based on dual anchor points, and can solve the technical problem of how to provide a cost-effective and easy-to-retrofit positioning solution for old vehicles. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the vehicle positioning method based on dual anchor points provided in the above-mentioned embodiment, and will not be described in detail here.

[0094] 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 vehicle positioning method based on dual anchor points, characterized in that: Applied to a vehicle to be positioned, the vehicle positioning method based on dual anchor points comprises: In response to the positioning requirement information, acquiring an anchor point area image; Obtaining one-way positioning data of the anchor point area and the vehicle to be positioned according to the anchor point area image; A spatial positioning result of the vehicle to be positioned is obtained based on the one-way positioning data of at least two of the anchor point areas and the vehicle to be positioned.

2. The vehicle positioning method based on dual anchor points according to claim 1, characterized in that: The step of acquiring the anchor point area image in response to the positioning requirement information includes: In response to the positioning requirement information, an all-round environment image at the current moment is obtained; Dividing the omnidirectional environment image into equal widths according to azimuth angles to obtain a plurality of omnidirectional sub-images; Matching the anchor image feature with the omnidirectional sub-image to determine the sub-image containing the anchor image feature; Based on the anchor point image feature, the sub-image is subjected to boundary cropping to obtain the anchor point region image.

3. The vehicle positioning method based on dual anchor points according to claim 2, characterized in that: Before acquiring the anchor point area image, the method further includes: In response to the positioning requirement information, establishing communication links with at least two positioning base stations; Taking a building that meets the anchor image visualization condition within the preset range of the positioning base station as an anchor target; The three-dimensional structure information of the anchor target is obtained, and the three-dimensional structure information is used as the anchor image feature.

4. The vehicle positioning method based on dual anchor points according to claim 3 is characterized in that: The method of taking a building that meets the anchor image visualization condition within the preset range of the positioning base station as an anchor target includes: Obtain a list of buildings within a preset range of the positioning base station, wherein the list of buildings is arranged according to building heights; The building whose height is greater than the preset anchor point visualization height is selected as a candidate building; Acquire appearance information of the candidate building, evaluate the appearance information using an anchor building discrimination evaluation model, and obtain a discrimination evaluation result of the candidate building; The anchor target is determined according to the ranking result of the discrimination evaluation results of the candidate buildings.

5. The vehicle positioning method based on dual anchor points according to claim 1, characterized in that: The step of obtaining one-way positioning data of the anchor point area and the vehicle to be positioned according to the anchor point area image includes: According to the anchor point area image, obtaining the azimuth of the anchor point target in the omnidirectional environment image; Acquire graphic parameters of the anchor point area image in the omnidirectional environment image, wherein the graphic parameters include graphic frame data and pixel point data; According to the graphic parameters and the real-view distance conversion reference data, the actual spatial distance of the anchor point target relative to the vehicle to be positioned is obtained; The actual spatial distance of the anchor target relative to the vehicle to be positioned and the azimuth of the anchor target in the omnidirectional environment image are used as one-way positioning data between the anchor area and the vehicle to be positioned.

6. The vehicle positioning method based on dual anchor points according to claim 1, characterized in that: The step of obtaining a spatial positioning result of the vehicle to be positioned according to the one-way positioning data of at least two of the anchor point areas and the vehicle to be positioned includes: Obtaining a directed angle formed by the anchor point area and the vehicle to be positioned according to the azimuth angle of the anchor point area image in the omnidirectional environment image and the azimuth angle of another anchor point area in the omnidirectional environment image; Obtaining an initial positioning result of the vehicle to be positioned according to the actual spatial distance and the directed angle of the anchor target relative to the vehicle to be positioned and the actual spatial distance of the anchor target relative to the vehicle to be positioned; The initial positioning result is corrected according to the positioning base station re-positioning data to obtain the spatial positioning result of the vehicle to be positioned.

7. The vehicle positioning method based on dual anchor points according to claim 6, characterized in that: The step of correcting the initial positioning result according to the positioning base station re-positioning data to obtain the spatial positioning result of the vehicle to be positioned includes: Acquire communication delay ranging data of the positioning base station corresponding to the vehicle to be positioned and the anchor target; Obtaining distance information between the vehicle to be located and the positioning base station according to the communication delay ranging data; Obtaining a calibration reference positioning result according to the latitude and longitude positions of the positioning base station and the distance information between the vehicle to be positioned and the positioning base station; The initial positioning result is corrected according to the calibration reference positioning result to obtain the spatial positioning result of the vehicle to be positioned.

8. A vehicle positioning device based on dual anchor points, characterized in that: The vehicle positioning device based on dual anchor points comprises: An anchor point image processing module, used for obtaining an anchor point area image in response to positioning requirement information; A positioning data processing module, used to obtain one-way positioning data of the anchor point area and the vehicle to be positioned according to the anchor point area image; The positioning data processing module is further used to obtain the spatial positioning result of the vehicle to be positioned based on the one-way positioning data of at least two anchor point areas and the vehicle to be positioned.

9. A vehicle positioning device based on dual anchor points, characterized in that: The dual-anchor-based vehicle positioning device comprises: a memory, a processor, and a dual-anchor-based vehicle positioning program stored in the memory and executable on the processor, wherein the dual-anchor-based vehicle positioning program is configured to implement the steps of the dual-anchor-based vehicle positioning method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a vehicle positioning program based on dual anchor points, and when the vehicle positioning program based on dual anchor points is executed by the processor, the steps of the vehicle positioning method based on dual anchor points as described in any one of claims 1 to 7 are implemented.

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