Vehicle positioning method, device and equipment

Abstract

The invention discloses a vehicle positioning method, device and equipment which are applied to the field of vehicle positioning, and the method comprises the steps: judging whether the satellite signal quality of a current target vehicle meets a preset satellite signal quality standard or not; when the satellite signal quality does not meet the preset satellite signal quality standard, obtaining first auxiliary positioning information and second auxiliary positioning information; determining a fitting driving track of the target vehicle based on the first auxiliary positioning information, the second auxiliary positioning information and a vehicle built-in map; and determining the current position information of the target vehicle based on the fitted driving track and the last satellite positioning position data. And the current positioning of the target vehicle is determined by integrating the first auxiliary positioning information and the second auxiliary positioning information in combination with a vehicle built-in map and last satellite positioning position data, and the problem that the positioning information of the target vehicle is inaccurate when the satellite positioning signal is weak is solved.

Description

Technical Field

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

[0002] The Global Navigation Satellite System is a key supporting technology for modern vehicle positioning. On-board driving recorders usually have built-in global navigation satellite receiving modules, which rely on satellite signals to accurately determine the longitude, latitude, and altitude information of the vehicle, thereby achieving continuous tracking of the vehicle's driving trajectory. Under ideal conditions, it can provide vehicles with high-precision, real-time positioning services, which are widely used in many fields such as logistics distribution and passenger transportation, and have become a core means to ensure transportation efficiency, driving safety, and industry supervision.

[0003] However, due to geographical factors, dense high-rise buildings, mountains or canyons will block the propagation of satellite signals, and branches and leaves of trees in dense forests will absorb and scatter satellite signals; in severe weather, lightning and heavy rain will also affect the quality of satellite signals. At the same time, when vehicles approach high-voltage towers on highway sections and enter underground parking lots, tunnels and other underground facilities, satellite communication signals will fluctuate.

[0004] The above reasons lead to problems such as weak satellite signals, signal interference, and signal shielding, which often cause the positioning function of the vehicle driving recorder to fail or drift during the vehicle's driving process, seriously hindering the tracking of the vehicle's normal driving trajectory and bringing many adverse effects to all aspects of the transportation industry.

[0005] Therefore, there is an urgent need for a positioning method that can correct the target vehicle positioning information when the satellite positioning signal is weak to ensure the accuracy and reliability of vehicle positioning. Summary of the invention

[0006] In view of this, the purpose of the present invention is to provide a vehicle positioning method, device and equipment, which solves the problem of vehicle positioning accuracy and reliability when the satellite positioning signal is weak. The specific scheme is as follows:

[0007] In a first aspect, the present application provides a vehicle positioning method, which is applied to a driving recorder, comprising:

[0008] Determine whether the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard;

[0009] When the satellite signal quality does not meet the preset satellite signal quality standard, obtaining first auxiliary positioning information and second auxiliary positioning information; the first auxiliary positioning information is information used for auxiliary positioning determined based on the target object in the current environment, and the second auxiliary positioning information is target vehicle driving data used for auxiliary positioning;

[0010] Determining a fitted driving trajectory of the target vehicle based on the first auxiliary positioning information, the second auxiliary positioning information and a built-in map of the vehicle;

[0011] The current position information of the target vehicle is determined based on the fitted driving trajectory and the last satellite positioning position data.

[0012] Optionally, the determining whether the satellite signal quality of the current target vehicle meets a preset satellite signal quality standard includes:

[0013] Determine the satellite signal quality index of the current target vehicle; the satellite signal quality index includes the number of satellites to which the current driving recorder is connected, satellite signal sensitivity, and satellite signal strength;

[0014] If each indicator in the current satellite signal quality indicator is greater than the corresponding preset indicator threshold, it is determined that the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard; otherwise, it is determined that the satellite signal quality of the current target vehicle does not meet the preset satellite signal quality standard.

[0015] Optionally, the acquiring the first auxiliary positioning information includes:

[0016] Receive base station signals actively sent by multiple base stations in the current environment;

[0017] measuring the signal strength between the target vehicle and the plurality of base stations and the signal arrival time between the plurality of base stations;

[0018] The first auxiliary positioning information is determined based on the difference in the signal strengths and the difference in the signal arrival times.

[0019] Optionally, the acquiring the first auxiliary positioning information includes:

[0020] Capturing image information of the surrounding environment of the current target vehicle;

[0021] Perform feature recognition on preset type markers in the image information, and determine the first auxiliary positioning information based on the corresponding feature recognition results; wherein the preset type markers include landmarks and / or road signs in the image information.

[0022] Optionally, the acquiring the first auxiliary positioning information includes:

[0023] Sending a positioning request to a target base station; the target base station is a base station determined from multiple base stations in the current environment;

[0024] receiving feedback information sent by the target base station based on the positioning request;

[0025] The first auxiliary positioning information is acquired based on the feedback information.

[0026] Optionally, obtaining the second auxiliary positioning information includes:

[0027] Acquire target vehicle driving data of the target vehicle; the target vehicle driving data includes current vehicle speed data of the target vehicle and mileage traveled during this trip;

[0028] The second auxiliary positioning information is determined based on the target vehicle driving data.

[0029] Optionally, also include:

[0030] If the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard, the current position information of the target vehicle is determined based on the satellite signal of the current target vehicle.

[0031] Optionally, also include:

[0032] If the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard, the current position information of the target vehicle is determined based on the satellite signal of the current target vehicle, the first auxiliary positioning information, the second auxiliary positioning information, the vehicle's built-in map and the last satellite positioning position data.

[0033] In a second aspect, the present application provides a vehicle positioning device, which is applied to a driving recorder, comprising:

[0034] A satellite signal determination module is used to determine whether the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard;

[0035] an auxiliary positioning information acquisition module, used to acquire first auxiliary positioning information and second auxiliary positioning information when the satellite signal quality does not meet the preset satellite signal quality standard; the first auxiliary positioning information is information used for auxiliary positioning determined based on the target object in the current environment, and the second auxiliary positioning information is target vehicle driving data used for auxiliary positioning;

[0036] A driving trajectory confirmation module, used to determine the fitted driving trajectory of the target vehicle based on the first auxiliary positioning information, the second auxiliary positioning information and a vehicle built-in map;

[0037] The positioning confirmation module is used to determine the current position information of the target vehicle based on the fitted driving trajectory and the last satellite positioning position data.

[0038] In a third aspect, the present application provides a vehicle-mounted driving recording device, comprising:

[0039] Memory, used to store computer programs;

[0040] The processor is used to execute the computer program to implement the above-mentioned vehicle positioning method.

[0041] It can be seen that in this application, by judging whether the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard; when the satellite signal quality does not meet the preset satellite signal quality standard, the first auxiliary positioning information and the second auxiliary positioning information are obtained, the first auxiliary positioning information is information for auxiliary positioning determined based on the target object in the current environment, and the second auxiliary positioning information is the target vehicle driving data for auxiliary positioning; based on the first auxiliary positioning information, the second auxiliary positioning information and the vehicle's built-in map, the fitting driving trajectory of the target vehicle is determined; based on the fitting driving trajectory and the last satellite positioning position data, the current position information of the target vehicle is determined. This application combines the first auxiliary positioning information and the second auxiliary positioning information with the vehicle's built-in map and the last satellite positioning position data to effectively evaluate and determine the current position of the target vehicle. When an error occurs in one of the auxiliary positioning information, the other auxiliary positioning information can also be effectively corrected by combining the vehicle's built-in map and the last satellite positioning position data, thereby solving the problem of inaccurate positioning information of the target vehicle when the satellite positioning signal is weak. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention 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, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0043] Figure 1 A flow chart of a vehicle positioning method disclosed in this application;

[0044] Figure 2 A satellite signal receiving device disclosed in the present application;

[0045] Figure 3 The overall working flow chart of a specific driving recorder disclosed in this application;

[0046] Figure 4 A specific vehicle positioning method flow chart disclosed in this application;

[0047] Figure 5 A schematic diagram of a vehicle positioning structure disclosed in this application;

[0048] Figure 6 This is a structural diagram of a vehicle-mounted driving recording device disclosed in this application. DETAILED DESCRIPTION

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

[0050] The core of this application is to provide a vehicle positioning method.

[0051] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0052] According to Article 8.6.5 of GB7258-2017 "Technical Conditions for Motor Vehicle Operation Safety", all passenger cars, dangerous goods transport trucks, semi-trailer tractors and other trucks with a total mass greater than or equal to 12,000 kg should be equipped with a driving recorder that can record, store, display, print or output vehicle driving status information such as vehicle speed, time, mileage, etc. And in JT / T794-2019 Technical Requirements for On-board Terminals of Satellite Positioning Systems for Road Transport Vehicles, Article 5.2.1 stipulates that the positioning terminal should be able to provide real-time positioning status information such as time, longitude, latitude, speed, elevation and direction, which can be stored inside the terminal and uploaded to the monitoring center through wireless communication. However, due to problems such as weak satellite signals, satellite signal interference, and satellite signal shielding during vehicle driving, the positioning function of the on-board driving recorder during vehicle driving fails or drifts, which will seriously hinder the tracking of the normal driving trajectory of the vehicle and bring many adverse effects to all links of the transportation industry.

[0053] Therefore, there is an urgent need for a positioning method that can correct the target vehicle positioning information when the satellite positioning signal is weak to ensure the accuracy and reliability of vehicle positioning.

[0054] See also Figure 1 As shown, in order to solve the above problems, this embodiment discloses a vehicle positioning method, which is applied to a driving recorder and may include:

[0055] Step S11: Determine whether the satellite signal quality of the current target vehicle meets a preset satellite signal quality standard.

[0056] In the present embodiment, this is the initial judgment link of the entire positioning method. The quality of satellite signals directly affects the subsequent positioning strategy. The reliability of satellite signals is determined by preset standards. If the signal quality meets the standard, the vehicle position can be directly determined based on the satellite positioning data. If it does not meet the standard, auxiliary positioning means must be activated to ensure positioning continuity and accuracy. At present, during vehicle driving, satellite positioning usually uses the Global Navigation Satellite System (GNSS), and the Global Positioning System (GPS) can be used as a part of GNSS. Among them, judging whether the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard includes:

[0057] Determine the satellite signal quality index of the current target vehicle; the satellite signal quality index includes the number of satellites to which the current driving recorder is connected, the satellite signal sensitivity and the satellite signal strength; if each index in the current satellite signal quality index is greater than the corresponding preset index threshold, it is determined that the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard, otherwise it is determined that the satellite signal quality of the current target vehicle does not meet the preset satellite signal quality standard.

[0058] By comprehensively considering the three key indicators of the number of satellites, satellite signal sensitivity, and satellite signal strength, the quality of satellite signals can be evaluated more comprehensively and accurately. The number of satellites is directly related to the accuracy of positioning calculations. Generally speaking, the more satellites are connected, the more accurate the vehicle position calculated by algorithms such as triangulation, such as Figure 2 As shown in the figure, the current position of the vehicle can be determined only when there is location information and corresponding timestamps sent by at least four satellites. The distance D between the vehicle and the satellite = the speed of radio propagation * propagation time. The speed of radio propagation in the air is a constant, and the propagation time can be obtained by subtracting the timestamp time from the satellite signal reception time. Satellite signal sensitivity reflects the ability of the receiving device to capture weak signals. In complex environments, high sensitivity helps to obtain more available satellite signals. Satellite signal strength is the most intuitive measurement standard. The higher the strength, the stronger the stability and reliability of signal transmission, and the less affected by interference and attenuation. Only when the satellite signal reaches or exceeds these thresholds in all dimensions can it be judged as qualified and can be used for conventional satellite positioning. This judgment method can effectively avoid positioning errors caused by a single indicator being acceptable but the overall quality being poor, and improve the reliability and stability of positioning. For example, if it is based only on the number of satellites, it may appear that although the number of connected satellites is sufficient, the signal strength is extremely weak, the sensitivity is poor, and the final positioning is inaccurate.

[0059] Step S12: When the satellite signal quality does not meet the preset satellite signal quality standard, obtain first auxiliary positioning information and second auxiliary positioning information; the first auxiliary positioning information is information used for auxiliary positioning determined based on the target object in the current environment, and the second auxiliary positioning information is the target vehicle driving data used for auxiliary positioning.

[0060] In this embodiment, when the satellite signal quality does not meet the preset satellite signal quality standard, the satellite signal is unreliable, and auxiliary positioning means need to be activated to ensure positioning continuity and accuracy. There are many ways to obtain the first auxiliary positioning information.

[0061] In a specific implementation, it may include: receiving base station signals actively sent by multiple base stations in the current environment; measuring the signal strength between the target vehicle and multiple base stations and the signal arrival time between multiple base stations; determining the first auxiliary positioning information based on the difference in signal strength and the difference in signal arrival time. The vehicle position is inferred by using the signal interaction characteristics between signal sources at multiple known locations and the target vehicle. When signals emitted by base stations at different locations reach the vehicle, they will present different signal strengths and arrival times due to different propagation distances. By measuring these differences and combining them with the known fixed positions of the base stations, the approximate position of the vehicle can be inferred.

[0062] Taking base stations as an example, in terms of signal strength, according to the propagation attenuation model of wireless signals in free space, the farther away from the base station, the greater the signal strength attenuation. Therefore, when a vehicle receives signals from different base stations, the base station corresponding to the stronger signal is more likely to be closer to the vehicle, and the base station with the weaker signal is farther away. At the same time, since electromagnetic waves propagate at a speed close to the speed of light, even a small distance difference will result in a measurable time difference. By using a high-precision clock to accurately capture the moment when the signal from each base station reaches the vehicle, and then calculating the time difference, combined with the known speed of electromagnetic waves, it is possible to accurately calculate the distance between the vehicle and each base station based on the principles of triangulation or hyperbolic positioning. This is more accurate than simply relying on signal strength judgment, especially in complex environments. It can effectively compensate for the errors caused by interference in strength measurement.

[0063] In another specific implementation, it may include: sending a positioning request to a target base station; the target base station is a base station determined from multiple base stations in the current environment; receiving feedback information sent by the target base station based on the positioning request; and obtaining first auxiliary positioning information based on the feedback information.

[0064] Since there are usually multiple base stations deployed by different mobile operators in the current environment of the vehicle, these base stations are distributed at different directions and distances, forming a communication network coverage area. When it is necessary to obtain auxiliary positioning information in this way, the positioning system on the vehicle will first scan and evaluate the signals of the base stations that can be detected in the surrounding area. On the one hand, considering the signal strength of the base station, the stronger the signal usually means that the distance between the vehicle and the base station is relatively closer, and the communication link is more stable, which is conducive to the rapid and accurate exchange of positioning information; on the other hand, the load of the base station will be taken into account, and those base stations that are in a high-load and busy state will be avoided as much as possible to reduce the delay of the positioning request and the risk of data packet loss. After selecting the target base station, the positioning device on the vehicle will send a positioning request containing necessary information such as its own identification and request timestamp to the target base station according to the pre-set communication protocol. After receiving the request, the target base station starts the positioning service process based on background calculation and data storage. After the vehicle receives the feedback information from the target base station, it first checks the integrity and accuracy of the data to ensure that there is no transmission error or data loss, and then analyzes the feedback information to obtain the first auxiliary positioning information.

[0065] In this embodiment, compared with directly receiving non-specific signals in the environment as the first auxiliary positioning information, by sending a request to the target base station and obtaining the first auxiliary positioning information based on the request, the base station can use the precise geographic location information it has mastered, combined with the real-time signal transmission characteristics between the vehicle, such as signal round trip time, signal attenuation model, etc., to calculate the location information specifically customized for the vehicle. Directly receiving non-specific signals, such as randomly receiving wireless signals with different characteristics from multiple unknown sources in the surrounding area, these signals may come from various interference sources or devices that do not have accurate location calibration, and it is difficult to directly convert them into accurate positioning clues, which is easy to introduce large errors. At the same time, when processing positioning requests, the target base station can not only rely on its own position and signal interaction with the vehicle, but also access other auxiliary positioning data such as surrounding terrain data and adjacent base station information, and conduct in-depth analysis based on multi-source information to further optimize the estimation of the vehicle's position. However, due to the lack of systematic integration, it is difficult for non-specific signals to fully tap the surrounding environment information to improve positioning accuracy.

[0066] In a third specific implementation, it may include: capturing image information in the surrounding environment of the current target vehicle; performing feature recognition on preset type markers in the image information, and determining the first auxiliary positioning information based on the corresponding feature recognition results; wherein the preset type markers include landmarks and / or road signs in the image information. The image information of the surrounding environment of the vehicle is captured in real time through a camera or image acquisition device installed on the vehicle, such as a high-definition camera built into a driving recorder, a dedicated visual sensor equipped with an automatic driving system connected to the driving recorder, etc. The device usually has a certain viewing angle range. According to the focal length, installation position and angle of the lens, it can cover part of the front, side and even rear area of ​​the vehicle, convert the light signal into a digital image signal, and provide raw materials for subsequent recognition and analysis. Once the landmark or road sign is successfully identified, since the geographical location information of these markers is pre-stored in the vehicle map database or the cloud positioning server, the coordinate data of the corresponding marker is quickly found through data association. Combined with the relative position relationship between the vehicle and the marker in the image, such as the distance and the azimuth angle, triangulation or a simple geometric transformation algorithm is used to infer the possible position of the vehicle within a certain range.

[0067] In this example, obtaining the second auxiliary positioning information may include: obtaining target vehicle driving data of the target vehicle; the target vehicle driving data includes the current speed data of the target vehicle and the mileage traveled during this trip; and determining the second auxiliary positioning information based on the target vehicle driving data.

[0068] During driving, the vehicle itself is equipped with a series of sensors that can be used to monitor driving status. For example, the speed sensor is usually based on the angular velocity of the wheel rotation, combined with parameters such as the tire circumference, and uses a specific algorithm to calculate the current speed data in real time, providing a key speed basis for the subsequent calculation of the vehicle's position change; the odometer accumulates the number of circles the wheel has turned, and then converts it into the mileage traveled, reflecting the total distance the vehicle has traveled from the departure to the current moment. These driving data are closely related to the vehicle's position. Even when the satellite signal or external auxiliary positioning signal is poor, the vehicle's own motion information can be used to infer the vehicle's position and direction to a certain extent.

[0069] Step S13: determining a fitted driving trajectory of the target vehicle based on the first auxiliary positioning information, the second auxiliary positioning information and the vehicle's built-in map.

[0070] By integrating multi-source auxiliary information, the vehicle can be accurately positioned based on the built-in map. The map provides a geographic framework, and the auxiliary positioning information can be used to find corresponding references on the map, such as matching points based on Wi-Fi hotspot positioning and trajectory segments calculated based on inertial navigation with map roads and landmarks. Using the map matching algorithm, these discrete information can be connected into a fitting driving trajectory that conforms to the actual driving logic of the vehicle, optimizing positioning accuracy and eliminating unreasonable position deviations.

[0071] Step S14: determining the current position information of the target vehicle based on the fitted driving trajectory and the last satellite positioning position data.

[0072] In the final positioning operation, the advantages of historical satellite positioning and current fitting trajectory are combined. The last satellite positioning position provides a relatively accurate benchmark, and the fitting driving trajectory reflects the dynamic changes of the vehicle during the period when the satellite signal fails. Combining the two can not only avoid the cumulative error caused by relying solely on the fitting trajectory, but also maintain a relatively accurate positioning before the satellite signal is restored. For example, if the satellite signal is interrupted for 10 seconds, the current vehicle position is determined based on the displacement calculated from the satellite positioning starting point and the fitting trajectory in the previous 10 seconds.

[0073] It can be understood that since the satellite positioning signal method is more accurate than the method of obtaining the fitted driving trajectory of the target vehicle through the first auxiliary positioning information, the second auxiliary positioning information and the vehicle's built-in map, and then determining the current position information of the target vehicle by combining the fitted driving trajectory and the last satellite positioning position data, therefore, in the process of obtaining the first auxiliary positioning information, the second auxiliary positioning information and the fitted driving trajectory, as long as the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard, the current position information of the target vehicle is determined based on the satellite signal of the current target vehicle.

[0074] Figure 3The overall workflow of the driving recorder is as follows: after the driving recorder device is powered on, the positioning module of the driving recorder is started. When the positioning function of the driving recorder can be used, it is first determined whether the communication between the driving recorder and the satellite positioning system is sufficient to support the vehicle to use satellite positioning to determine the current position of the vehicle, that is, whether the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard. When the satellite signal quality does not meet the preset satellite signal quality standard, the first auxiliary positioning information and the second auxiliary positioning information are obtained, and then the current position information of the target vehicle is determined by combining the vehicle's built-in map and the last satellite positioning position data, that is, the historical satellite positioning position data, and the current position information of the target vehicle is uploaded to the platform. In this process, the driving recorder continuously detects whether the satellite signal quality of the target vehicle meets the preset satellite signal quality standard. Once the satellite signal quality of the target vehicle meets the preset satellite signal quality standard, the current position information of the target vehicle is determined based on the communication information transmitted back by the satellite signal of the current target vehicle, and the current position information of the target vehicle is uploaded to the platform. The vehicle always keeps uploading positioning information to the platform.

[0075] It can be seen that in this application, by judging whether the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard; when the satellite signal quality does not meet the preset satellite signal quality standard, the first auxiliary positioning information and the second auxiliary positioning information are obtained, the first auxiliary positioning information is information used for auxiliary positioning determined based on the target object in the current environment, and the second auxiliary positioning information is the target vehicle driving data used for auxiliary positioning; the fitting driving trajectory of the target vehicle is determined based on the first auxiliary positioning information, the second auxiliary positioning information and the vehicle's built-in map; the current position information of the target vehicle is determined based on the fitting driving trajectory and the last satellite positioning position data. This application combines the first auxiliary positioning information and the second auxiliary positioning information with the vehicle's built-in map and the last satellite positioning position data to effectively evaluate and determine the current position of the target vehicle. When an error occurs in one of the auxiliary positioning information, the other auxiliary positioning information can also be effectively corrected by combining the vehicle's built-in map and the last satellite positioning position data, thereby solving the problem of inaccurate positioning information of the target vehicle when the satellite positioning signal is weak.

[0076] If the computing power of the vehicle driving recorder allows, even if the satellite signal quality meets the preset satellite signal quality standard, in order to further improve the accuracy of vehicle positioning, the current position of the vehicle can be determined by combining the satellite signal and the auxiliary signal and the vehicle's built-in map. Therefore, the embodiment of the present application further provides a vehicle positioning method, such as Figure 4 As shown, it may include:

[0077] Step S21: Determine whether the satellite signal quality of the current target vehicle meets a preset satellite signal quality standard.

[0078] Step S22: When the satellite signal quality meets the preset satellite signal quality standard, the first auxiliary positioning information, the second auxiliary positioning information and the satellite signal of the current target vehicle are obtained; the first auxiliary positioning information is information used for auxiliary positioning determined based on the target object in the current environment, and the second auxiliary positioning information is the target vehicle driving data used for auxiliary positioning.

[0079] In this embodiment, even if the satellite signal meets the standard, obtaining auxiliary positioning information based on the target object can further optimize the positioning accuracy and enhance stability. Satellite signals, as the core positioning basis, can provide the basic position coordinates of the vehicle in the global coordinate system, which is the key starting point for building an accurate driving trajectory. Subsequent auxiliary positioning information is calibrated and supplemented around it to ensure the overall positioning accuracy.

[0080] Step S23: determining a fitted driving trajectory of the target vehicle based on the first auxiliary positioning information, the second auxiliary positioning information, the vehicle's built-in map, and the satellite signal of the current target vehicle.

[0081] In this embodiment, the satellite signal is combined with the first auxiliary positioning information, the second auxiliary positioning information, and the vehicle's built-in map to determine the fitted driving trajectory of the target vehicle. The vehicle's built-in map provides the geographic framework and road topology information, and then maps the coordinate points converted by the satellite signal to the map; at the same time, according to the target object in the first auxiliary positioning information combined with the vehicle displacement inference of the second auxiliary positioning information, the order and spacing of each positioning point are adjusted, and the map road direction rules are followed. Using the map matching algorithm, the discrete positioning points are fitted into a continuous trajectory line that conforms to the actual driving logic of the vehicle, such as making the positioning point fall in the center of the map road to avoid the vehicle appearing "through the wall" and other unrealistic trajectories.

[0082] Step S24: determining the current position information of the target vehicle based on the fitted driving trajectory and the last satellite positioning position data.

[0083] The historical data of satellite positioning is the benchmark for current positioning, representing the exact position of the vehicle at the previous moment. The fitted driving trajectory reflects the dynamic changes of the vehicle during the satellite signal acquisition interval. The combination of the two prevents the fitted trajectory from deviating from the actual path due to accumulated errors; at the same time, the displacement update of the fitted trajectory is used to accurately calculate the current position of the vehicle during the period when the satellite signal is interrupted or not updated.

[0084] For the specific implementation process of step S21, reference may be made to the corresponding contents disclosed in the aforementioned embodiments, which will not be described in detail here.

[0085] In this embodiment, when the quality of the satellite signal meets the preset standard, although the satellite signal itself has a high accuracy, it may be affected by obstruction, interference, etc. in a complex environment and may fluctuate or be temporarily lost. At this time, the satellite signal can be supplemented and corrected in combination with the first auxiliary positioning information and the second auxiliary positioning information. For example, in places where satellite signals are easily affected, such as urban canyons and tunnel entrances, the first auxiliary positioning information and the second auxiliary positioning information can help reduce positioning deviations and improve positioning stability and accuracy. However, using only satellite signals in these cases may cause problems such as inaccurate positioning or signal loss leading to positioning interruption. By rationally utilizing the first auxiliary positioning information and the second auxiliary positioning information, the dependence on satellite signals can be reduced to a certain extent, and the continuous high-intensity use of satellite positioning modules can be reduced. At the same time, the positioning strategy can be flexibly adjusted according to different environments and satellite signal quality conditions to better adapt to various complex and changeable practical application scenarios.

[0086] Accordingly, see Figure 5 As shown, the embodiment of the present application also provides a vehicle positioning device, which may include:

[0087] The satellite signal determination module 11 is used to determine whether the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard;

[0088] The auxiliary positioning information acquisition module 12 is used to acquire first auxiliary positioning information and second auxiliary positioning information when the satellite signal quality does not meet the preset satellite signal quality standard; the first auxiliary positioning information is information used for auxiliary positioning determined based on the target object in the current environment, and the second auxiliary positioning information is the target vehicle driving data used for auxiliary positioning;

[0089] A driving trajectory confirmation module 13, used to determine a fitted driving trajectory of the target vehicle based on the first auxiliary positioning information, the second auxiliary positioning information and the vehicle's built-in map;

[0090] The positioning confirmation module 14 is used to determine the current position information of the target vehicle based on the fitted driving trajectory and the last satellite positioning position data.

[0091] It can be seen that in this embodiment, it is first determined whether the satellite signal quality meets the preset satellite signal quality standard. When the satellite signal quality does not meet the preset satellite signal quality standard, the first auxiliary positioning information and the second auxiliary positioning information are combined with the vehicle's built-in map and the last satellite positioning position data to effectively evaluate and determine the current position of the target vehicle. When an error occurs in one of the auxiliary positioning information, the other auxiliary positioning information can also be effectively corrected by combining the vehicle's built-in map and the last satellite positioning position data.

[0092] In some specific implementations, the satellite signal determination module 11 includes:

[0093] A satellite signal index acquisition unit, used to determine the satellite signal quality index of the current target vehicle; the satellite signal quality index includes the number of satellites to which the current driving recorder is connected, the satellite signal sensitivity and the satellite signal strength;

[0094] The satellite signal quality judgment unit is used to determine that the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard if each indicator in the current satellite signal quality indicator is greater than the corresponding preset indicator threshold value, otherwise determine that the satellite signal quality of the current target vehicle does not meet the preset satellite signal quality standard.

[0095] In some specific implementations, the auxiliary positioning information acquisition module 12 includes:

[0096] A signal receiving unit, used to receive base station signals actively sent by multiple base stations in the current environment;

[0097] A signal measurement unit, used to measure the signal strength between the target vehicle and the multiple base stations and the signal arrival time between the multiple base stations;

[0098] The first confirmation unit for the first auxiliary positioning information determines the first auxiliary positioning information based on the difference in signal strength and the difference in signal arrival time.

[0099] In some specific implementations, the auxiliary positioning information acquisition module 12 includes:

[0100] An information capturing unit, used for capturing image information in the surrounding environment of the current target vehicle;

[0101] An information recognition unit is used to perform feature recognition on preset type markers in the image information and determine first auxiliary positioning information based on the corresponding feature recognition results; wherein the preset type markers include landmarks and / or road signs in the image information.

[0102] In some specific implementations, the auxiliary positioning information acquisition module 12 includes:

[0103] An information request unit, configured to send a positioning request to a target base station; the target base station is a base station determined from a plurality of base stations in a current environment;

[0104] An information receiving unit, used to receive feedback information sent by the target base station based on the positioning request;

[0105] The first auxiliary positioning information second confirmation unit is used to obtain the first auxiliary positioning information based on the feedback information.

[0106] In some specific implementations, the auxiliary positioning information acquisition module 12 includes:

[0107] The vehicle driving data integration unit is used to obtain the target vehicle driving data of the target vehicle; the target vehicle driving data includes the current speed data of the target vehicle and the mileage traveled during this trip;

[0108] The second auxiliary positioning information confirmation unit is used to determine the second auxiliary positioning information based on the target vehicle driving data.

[0109] In some specific implementations, the positioning confirmation module 14 further includes:

[0110] The satellite positioning unit is used to determine the current position information of the target vehicle based on the satellite signal of the current target vehicle if the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard.

[0111] In some specific implementations, the positioning confirmation module 14 further includes:

[0112] The positioning confirmation unit is used to determine the current position information of the target vehicle based on the satellite signal of the current target vehicle, the first auxiliary positioning information, the second auxiliary positioning information, the vehicle's built-in map and the last satellite positioning position data if the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard.

[0113] Furthermore, the present application also discloses an electronic device. Figure 6 1 is a structural diagram of an electronic device 20 according to an exemplary embodiment, and the content in the figure cannot be regarded as any limitation on the scope of use of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. Among them, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the vehicle positioning method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0114] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0115] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0116] The operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the vehicle positioning method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include computer programs that can be used to complete other specific tasks.

[0117] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0118] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0119] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0120] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0121] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle positioning method, characterized in that: Applied to driving recorders, including: Determine whether the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard; When the satellite signal quality does not meet the preset satellite signal quality standard, obtaining first auxiliary positioning information and second auxiliary positioning information; the first auxiliary positioning information is information used for auxiliary positioning determined based on the target object in the current environment, and the second auxiliary positioning information is target vehicle driving data used for auxiliary positioning; Determining a fitted driving trajectory of the target vehicle based on the first auxiliary positioning information, the second auxiliary positioning information and a built-in map of the vehicle; The current position information of the target vehicle is determined based on the fitted driving trajectory and the last satellite positioning position data.

2. The vehicle positioning method according to claim 1, characterized in that: The determining whether the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard includes: Determine the satellite signal quality index of the current target vehicle; the satellite signal quality index includes the number of satellites to which the current driving recorder is connected, the satellite signal sensitivity and the satellite signal strength; If each indicator in the current satellite signal quality indicator is greater than the corresponding preset indicator threshold, it is determined that the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard; otherwise, it is determined that the satellite signal quality of the current target vehicle does not meet the preset satellite signal quality standard.

3. The vehicle positioning method according to claim 1, characterized in that: The obtaining of the first auxiliary positioning information includes: Receive base station signals actively sent by multiple base stations in the current environment; measuring the signal strength between the target vehicle and the plurality of base stations and the signal arrival time between the plurality of base stations; The first auxiliary positioning information is determined based on the difference in the signal strengths and the difference in the signal arrival times.

4. The vehicle positioning method according to claim 1, characterized in that: The obtaining of the first auxiliary positioning information includes: Capturing image information of the surrounding environment of the current target vehicle; Perform feature recognition on preset type markers in the image information, and determine the first auxiliary positioning information based on the corresponding feature recognition results; wherein the preset type markers include landmarks and / or road signs in the image information.

5. The vehicle positioning method according to claim 1, characterized in that: The obtaining of the first auxiliary positioning information includes: Sending a positioning request to a target base station; the target base station is a base station determined from multiple base stations in the current environment; receiving feedback information sent by the target base station based on the positioning request; The first auxiliary positioning information is acquired based on the feedback information.

6. The vehicle positioning method according to claim 1, characterized in that: The step of obtaining the second auxiliary positioning information includes: Acquire target vehicle driving data of the target vehicle; the target vehicle driving data includes current vehicle speed data of the target vehicle and mileage traveled during this trip; The second auxiliary positioning information is determined based on the target vehicle driving data.

7. The vehicle positioning method according to any one of claims 1 to 6, characterized in that: Also includes: If the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard, the current position information of the target vehicle is determined based on the satellite signal of the current target vehicle.

8. The vehicle positioning method according to any one of claims 1 to 6, characterized in that: Also includes: If the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard, the current position information of the target vehicle is determined based on the satellite signal of the current target vehicle, the first auxiliary positioning information, the second auxiliary positioning information, the vehicle's built-in map and the last satellite positioning position data.

9. A vehicle positioning device, characterized in that: Applied to driving recorders, including: A satellite signal determination module is used to determine whether the satellite signal quality of the current target vehicle meets the preset satellite signal quality standard; an auxiliary positioning information acquisition module, used to acquire first auxiliary positioning information and second auxiliary positioning information when the satellite signal quality does not meet the preset satellite signal quality standard; the first auxiliary positioning information is information used for auxiliary positioning determined based on the target object in the current environment, and the second auxiliary positioning information is target vehicle driving data used for auxiliary positioning; A driving trajectory confirmation module, used to determine the fitted driving trajectory of the target vehicle based on the first auxiliary positioning information, the second auxiliary positioning information and a vehicle built-in map; The positioning confirmation module is used to determine the current position information of the target vehicle based on the fitted driving trajectory and the last satellite positioning position data.

10. A vehicle-mounted driving recording device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the vehicle positioning method according to any one of claims 1 to 8.

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