Vehicle positioning method, storage medium, and vehicle

Abstract

A vehicle positioning method, a storage medium, and a vehicle, which are applied to a multi-storey parking lot. The vehicle positioning method comprises: acquiring current pose information of a vehicle (S101); on the basis of the current pose information, obtaining current horizontal position information of the vehicle and current height position information of the vehicle in a multi-storey parking lot (S102); and on the basis of the current horizontal position and the current height position information, performing real-time positioning on the vehicle (S103). Therefore, real-time positioning can be performed on a vehicle more conveniently and more accurately and at a lower cost.

Description

Vehicle positioning method, storage medium and vehicle Technical Field

[0001] This application claims priority to Chinese patent application No. 202311727701.0, filed on December 14, 2023, entitled “Vehicle Positioning Method, Storage Medium and Vehicle”. The entire contents of the above Chinese patent application are incorporated into this application by reference. Background Art

[0002] Currently, satellite positioning technology is generally used to locate vehicles in real time. However, in places where satellite signals cannot be received (such as underground multi-story parking lots), other methods need to be used to locate vehicles.

[0003] When satellite signals are unavailable, existing technologies typically use devices like cameras and barometers to determine vehicle altitude and roof-to-ground distance, and horizontal positioning by setting up indoor base stations. However, in practice, these positioning methods are computationally complex, resource-intensive, and slow, and they often fail to achieve accurate positioning results. Furthermore, existing technologies require the deployment of multiple measurement devices, resulting in high positioning costs and failing to meet current demands for real-time vehicle positioning.

[0004] Summary of the Invention

[0005] In order to solve the above technical problems, the present application proposes a vehicle positioning method, a storage medium and a vehicle, which can locate the vehicle in real time more conveniently and accurately at a lower cost.

[0006] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0007] In a first aspect, the present application provides a vehicle positioning method, applied to a multi-storey car park, the method comprising:

[0008] Obtaining current position information of the vehicle;

[0009] Based on the current posture information, obtaining current horizontal position information of the vehicle and current height position information of the vehicle in the multi-story parking lot;

[0010] The vehicle is positioned in real time based on the current horizontal position information and the current height position information.

[0011] In some embodiments, the vehicle is equipped with a posture sensor; obtaining the current posture information of the vehicle includes:

[0012] The current posture information of the vehicle is obtained through the posture sensor.

[0013] In some embodiments, obtaining the current height position information of the vehicle in the multi-story parking lot based on the current posture information includes:

[0014] Based on the current posture information, obtaining a current pitch angle of the vehicle;

[0015] Based on the current pitch angle, the current driving state information of the vehicle is obtained; wherein the current driving state information includes: whether the vehicle is currently going up or down stairs, whether the vehicle has completed going up or down stairs, and whether the vehicle is currently traveling on a flat surface;

[0016] Based on the current driving state information, the current height position information is obtained.

[0017] In some embodiments, obtaining the current driving state information of the vehicle based on the current pitch angle includes:

[0018] Determining whether the current pitch angle is greater than a first preset angle threshold;

[0019] When the current pitch angle is greater than the first preset angle threshold, it is determined that the vehicle is currently going up or down stairs.

[0020] In some embodiments, obtaining the current driving state information of the vehicle based on the current pitch angle further includes:

[0021] Determining whether the distance accumulation of the vehicle going up and down stairs is currently in progress;

[0022] When the current pitch angle is greater than the first preset angle threshold, determining that the vehicle is currently going up or down stairs includes:

[0023] When the current pitch angle is greater than the first preset angle threshold and the distance accumulation of the vehicle going up and down stairs is currently in progress, it is determined that the vehicle is currently going up and down stairs.

[0024] In some embodiments, obtaining the current driving state information of the vehicle based on the current pitch angle further includes:

[0025] Obtaining a cumulative distance of the vehicle in the current upstairs and downstairs driving state as a first cumulative distance;

[0026] Determining whether the first accumulated distance is greater than a preset distance threshold;

[0027] When the current pitch angle is greater than the first preset angle threshold and the distance accumulation of the vehicle going up and down stairs is currently in progress, determining that the vehicle is currently going up and down stairs includes:

[0028] When the current pitch angle is greater than the first preset angle threshold, and the first accumulated distance is greater than the preset distance threshold, it is determined that the vehicle is currently going up or down stairs.

[0029] In some embodiments, obtaining the current driving state information of the vehicle based on the current pitch angle includes:

[0030] Determining whether the current pitch angle is less than a second preset angle threshold;

[0031] Determining whether the distance accumulation of the vehicle going up and down stairs is currently in progress;

[0032] When the current pitch angle is less than the second preset angle threshold and the distance accumulation of the vehicle in the upstairs and downstairs driving state is not currently being performed, it is determined that the vehicle is currently driving in a flat area.

[0033] In some embodiments, obtaining the current driving state information of the vehicle based on the current pitch angle includes:

[0034] Determining whether the current pitch angle is less than a second preset angle threshold;

[0035] Determining whether the distance accumulation of the vehicle going up and down stairs is currently in progress;

[0036] Determining whether the distance accumulated by the vehicle traveling on the flat area is currently being accumulated;

[0037] When the current pitch angle is less than the second preset angle threshold, and the distance accumulation of the vehicle going up and down stairs is currently in progress, and the distance accumulation of the vehicle traveling on a flat area is currently in progress, it is determined that the vehicle has currently completed going up and down stairs.

[0038] In some embodiments, obtaining the current driving state information of the vehicle based on the current pitch angle further includes:

[0039] Obtaining a cumulative distance currently traveled by the vehicle in the flat area as a second cumulative distance;

[0040] Determining whether the second accumulated distance is greater than a preset distance threshold;

[0041] When the current pitch angle is less than the second preset angle threshold, and the distance accumulation of the vehicle going up and down stairs is currently being performed, and the distance accumulation of the vehicle traveling on a flat area is currently being performed, determining that the vehicle has currently completed going up and down stairs includes:

[0042] When the current pitch angle is less than the second preset angle threshold, and the distance accumulation of the vehicle going up and down stairs is currently in progress, and the second accumulated distance is greater than the preset distance threshold, it is determined that the vehicle has currently completed going up and down stairs.

[0043] In some embodiments, the vehicle is equipped with a posture sensor; obtaining the current height position information based on the current driving state information includes:

[0044] When the vehicle is currently going up or down stairs, or when the vehicle is currently traveling on a flat area, obtaining a current height value of the vehicle through the attitude sensor;

[0045] The current altitude value is used as the current altitude position information.

[0046] In some embodiments, the vehicle is equipped with a posture sensor; and obtaining the current height position information based on the current driving state information includes:

[0047] When the vehicle has completed going up and down stairs, obtaining the current height value of the vehicle through the posture sensor;

[0048] Based on the preset standard height, the current height value is updated, and the updated height value is obtained as the current height position information.

[0049] In some embodiments, the method further comprises:

[0050] Acquiring the height value of the vehicle at the start of going up or down the stairs through the posture sensor;

[0051] Calculating a deviation between the current height value and the height value of the vehicle at the start of going up or down the stairs as a first deviation value;

[0052] Determining whether the first deviation value is greater than a first preset deviation threshold;

[0053] The updating of the current altitude value based on the preset standard altitude and obtaining the updated altitude value as the current altitude position information includes:

[0054] When the first deviation value is greater than the first preset deviation threshold, the current altitude value is updated based on the preset standard altitude, and the updated altitude value is obtained as the current altitude position information.

[0055] In some embodiments, there are multiple preset standard heights; updating the current height value based on the preset standard heights to obtain the updated height value as the current height position information includes:

[0056] Calculating the deviation between each of the preset standard heights and the current height value to obtain a plurality of second deviation values;

[0057] Selecting a preset standard height corresponding to a minimum value from the plurality of second deviation values ​​as a reference height;

[0058] Calculating a deviation between the reference altitude and the current altitude as a third deviation;

[0059] Determining whether the third deviation value is less than a second preset deviation threshold;

[0060] When the third deviation value is less than the second preset deviation threshold, the reference altitude is assigned to the current altitude value to update the current altitude value.

[0061] In some embodiments, the method further comprises:

[0062] Determining whether each of the second deviation values ​​is greater than a third preset deviation threshold;

[0063] When each of the second deviation values ​​is greater than the third preset deviation threshold, the current altitude value is saved as a newly added preset standard altitude.

[0064] In some embodiments, the method further comprises:

[0065] Based on the current height position information, obtaining a floor number corresponding to the current height position information;

[0066] The floor number is displayed in real time.

[0067] In a second aspect, the present application provides a computer-readable storage medium storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the vehicle positioning method described in any one of the technical solutions in the first aspect.

[0068] In a third aspect, the present application provides a vehicle comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program, and when the computer program is executed by the at least one processor, it implements the vehicle positioning method described in any one of the technical solutions of the first aspect.

[0069] The vehicle positioning method, storage medium and vehicle provided in the embodiments of the present application obtain the current posture information of the vehicle, obtain the current horizontal position information of the vehicle and the current height position information of the vehicle in the multi-storey parking lot based on the current posture information, and perform real-time positioning of the vehicle based on the current horizontal position information and the current height position information, so that the present application does not need to arrange additional measuring equipment as in the prior art, but only needs to obtain the current posture information of the vehicle to perform real-time positioning of the vehicle. The positioning method is simple and convenient, and the positioning cost is lower. Moreover, the present application can simultaneously obtain the current horizontal position information and current height position information of the vehicle based on the current posture information of the vehicle, so the positioning result is more accurate. It can be seen that the technical solution provided by the present application can more conveniently and accurately perform real-time positioning of the vehicle at a lower cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The disclosure of this application will become more easily understood with reference to the accompanying drawings. Those skilled in the art will readily appreciate that these drawings are merely for the purpose of illustrating this application and are not intended to limit the scope of protection of this application. Furthermore, similar numbers in the drawings represent similar components, where:

[0071] FIG1 is a flow chart showing the main steps of a vehicle positioning method according to an embodiment of the present application;

[0072] FIG2 is a flowchart of a program implementation of a vehicle positioning method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0073] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application.

[0074] In the description of this application, "module" and "processor" may include hardware, software, or a combination of both. A module may include hardware circuitry, various suitable sensors, communication ports, and memory. It may also include software components, such as program code, or a combination of software and hardware. A processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. A processor has data and / or signal processing capabilities. A processor may be implemented in software, hardware, or a combination of both. Non-transitory computer-readable storage media include any suitable medium capable of storing program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc. The term "A and / or B" refers to all possible combinations of A and B, such as only A, only B, or both A and B. The terms "at least one of A or B" or "at least one of A and B" have similar meanings to "A and / or B" and may include only A, only B, or both A and B. The singular forms "one" and "the" may also include the plural forms.

[0075] When satellite signals are unavailable, existing technologies typically use devices like cameras and barometers to determine vehicle altitude and roof-to-ground distance, and horizontal positioning by measuring parameters like vehicle height and roof-to-ground distance. However, in practice, these positioning methods are computationally complex, resource-intensive, and slow, and they also fail to achieve accurate positioning results. Furthermore, existing technologies require the deployment of multiple measurement devices, resulting in high positioning costs, making them unable to meet current real-time vehicle positioning needs and limiting widespread adoption.

[0076] To address the aforementioned technical issues, this application provides a real-time vehicle positioning method for multi-story parking lots. This method acquires vehicle position information in real time, obtaining the vehicle's current pitch angle and three-dimensional coordinates. It then uses real-time statistical data on changes in pitch angle and coordinates to identify whether the vehicle is ascending or descending stairs. Subsequently, based on the height difference during the ascending or descending process and a historical height matching strategy, it accurately calculates the current floor's height and provides the current floor number. This method addresses the technical issue of positioning in multi-story parking lots without a global height prior provided by satellite signals.

[0077] Based on the above ideas, the present application provides a vehicle positioning method, which is applied to a multi-storey parking lot. As shown in FIG1 , the vehicle positioning method in the embodiment of the present application mainly includes the following steps S101 to S103 .

[0078] Step S101, obtaining the current posture information of the vehicle;

[0079] In order to obtain the current posture information of the vehicle conveniently and accurately, in this embodiment, the vehicle is equipped with a posture sensor. Under this premise, the obtaining of the current posture information of the vehicle described in this embodiment includes: obtaining the current posture information of the vehicle through the posture sensor.

[0080] In this embodiment, the vehicle's position information may include the vehicle's posture information and travel direction information in three-dimensional space. Real-time acquisition of the vehicle's position information allows the vehicle's three-dimensional position information at each moment to be obtained based on the vehicle's position information at each moment. This three-dimensional position information can then be used to perform subsequent precise position calculations to accurately locate the vehicle in real time.

[0081] Step S102, based on the current posture information, obtaining the current horizontal position information of the vehicle and the current height position information of the vehicle in the multi-storey parking lot;

[0082] In this embodiment, since the vehicle's posture information includes the vehicle's posture information and driving direction information in three-dimensional space, the vehicle's current horizontal position information at each moment can be obtained based on the vehicle's real-time posture information, that is, the vehicle's current horizontal position information can be obtained based on the vehicle's current posture information.

[0083] In order to more accurately obtain the current height position information of the vehicle in the multi-story parking lot, the present embodiment describes obtaining the current height position information of the vehicle in the multi-story parking lot based on the current posture information, including: obtaining the current pitch angle of the vehicle based on the current posture information; obtaining the current driving status information of the vehicle based on the current pitch angle; wherein the current driving status information includes: whether the vehicle is currently going up or down stairs, whether the vehicle has completed going up or down stairs, and whether the vehicle is currently driving on a flat area; and obtaining the current height position information based on the current driving status information.

[0084] Furthermore, in order to more accurately obtain the current driving status information of the vehicle, the present embodiment obtains the current driving status information of the vehicle based on the current pitch angle, including: judging whether the current pitch angle is greater than a first preset angle threshold; when the current pitch angle is greater than the first preset angle threshold, determining that the vehicle is currently going up or down the stairs.

[0085] Specifically, when a vehicle is going up or down stairs, its posture should be in a tilted state, that is, the vehicle's pitch angle should be large. Therefore, a pitch angle threshold, namely the first preset angle threshold, can be set. The vehicle's current pitch angle is compared with the threshold. When the current pitch angle is greater than the threshold, it indicates that the vehicle is in a tilted state, and the vehicle's state is determined to be going up or down stairs. The going up or down stairs state includes going up or down stairs, that is, the vehicle is in an uphill or downhill state.

[0086] To further accurately determine whether the vehicle is currently going up or down stairs, obtaining the vehicle's current driving state information based on the current pitch angle in this embodiment further includes determining whether the vehicle is currently accumulating distance during the vehicle's going up or down stairs driving state. Based on this premise, determining that the vehicle is currently going up or down stairs when the current pitch angle is greater than the first preset angle threshold in this embodiment includes determining that the vehicle is currently going up or down stairs when the current pitch angle is greater than the first preset angle threshold and the vehicle is currently accumulating distance during the vehicle's going up or down stairs driving state.

[0087] Specifically, a flag B is pre-set to determine whether the system is currently accumulating distance during the vehicle's upstairs / downstairs driving state. The system sets this flag to true or false under predetermined conditions during vehicle driving. When the value of flag B is true, the system is currently accumulating distance during the vehicle's upstairs / downstairs driving state; when the value of flag B is false, the system is not currently accumulating distance during the vehicle's upstairs / downstairs driving state.

[0088] The predetermined conditions can be set based on the vehicle's actual driving conditions. In one embodiment, the predetermined conditions may include determining the vehicle's current pitch angle. For example, when the vehicle's current pitch angle is greater than a certain value, the system will set Flag B to true. Another example is when the system determines that the vehicle has just completed the movement of going up or down stairs, Flag B will be set to false. In actual applications, other factors may also be used to trigger the value conversion of Flag B, which is not specifically limited in this embodiment.

[0089] It should be noted that in this embodiment, Mark B can be used as a factor in determining the vehicle's current driving state, and the vehicle's current driving state can also be used as a factor in converting the value of Mark B. In actual application, this can be implemented according to specific program code. Through the above method, the vehicle's current driving state can be determined more accurately and without error.

[0090] To avoid interference from noisy data and to further accurately determine whether the vehicle is currently ascending or descending stairs, the method of obtaining the vehicle's current driving state information based on the current pitch angle in this embodiment further includes: obtaining the cumulative distance of the vehicle's current ascending or descending state as a first cumulative distance; and determining whether the first cumulative distance is greater than a preset distance threshold. Under this premise, the method of determining that the vehicle is currently ascending or descending stairs when the current pitch angle is greater than the first preset angle threshold and distance accumulation for the vehicle's ascending or descending state is currently in progress in this embodiment includes: determining that the vehicle is currently ascending or descending stairs when the current pitch angle is greater than the first preset angle threshold and the first cumulative distance is greater than the preset distance threshold.

[0091] Specifically, in actual applications, the collected data may sometimes experience significant fluctuations due to noise, leading to system misjudgments. This means that the system's collection and judgment of the vehicle's current pitch angle may not be accurate. In this case, the value of Marker B may also not be accurate. To eliminate these misjudgment factors, this embodiment employs a distance accumulation and delayed judgment method. Specifically, it determines whether the accumulated distance of the vehicle's current upstairs and downstairs driving state exceeds a certain threshold. If it exceeds the threshold, it indicates that the system is indeed accumulating distance during the upstairs and downstairs driving state, thereby confirming that the vehicle is indeed currently going upstairs and downstairs.

[0092] In order to accurately obtain the current driving status information of the vehicle, the present embodiment obtains the current driving status information of the vehicle based on the current pitch angle, including: determining whether the current pitch angle is less than a second preset angle threshold; determining whether the distance accumulation of the vehicle's going up and down stairs driving status is currently being performed; when the current pitch angle is less than the second preset angle threshold and the distance accumulation of the vehicle's going up and down stairs driving status is not currently being performed, determining that the vehicle is currently driving on a flat area.

[0093] Specifically, when a vehicle is traveling on a flat surface, its posture should be horizontal, i.e., the vehicle's pitch angle should be small. Therefore, another pitch angle threshold, i.e., the second preset angle threshold, can be set. The vehicle's current pitch angle can be compared with this threshold. When the current pitch angle is less than this threshold, it indicates that the vehicle is in a horizontal state. In order to further distinguish whether the vehicle is currently traveling on a flat surface or has just completed a stair climbing or descending action, this embodiment further sets a judgment condition for accumulating distance during the upstairs and downstairs driving state. That is, after determining that the vehicle is currently in a horizontal state, it is further determined whether the system is currently accumulating distance during the upstairs and downstairs driving state, i.e., determining the value of flag B. When flag B is false, it indicates that the system is not currently accumulating distance during the upstairs and downstairs driving state. At this time, it can be determined that the vehicle is currently traveling on a flat surface, i.e., the vehicle is currently traveling on a certain floor of the parking lot.

[0094] In order to accurately obtain the current driving status information of the vehicle, the present embodiment obtains the current driving status information of the vehicle based on the current pitch angle, including: determining whether the current pitch angle is less than a second preset angle threshold; determining whether the distance accumulation of the vehicle going up and down stairs is currently being carried out; determining whether the distance accumulation of the vehicle traveling on a flat area is currently being carried out; when the current pitch angle is less than the second preset angle threshold, and the distance accumulation of the vehicle going up and down stairs is currently being carried out, and the distance accumulation of the vehicle traveling on a flat area is currently being carried out, it is determined that the vehicle has currently completed going up and down stairs.

[0095] Specifically, a flag A is pre-set to determine whether the system is currently accumulating distance traveled on a flat surface. The system sets this flag to true or false under predetermined conditions during vehicle travel. When the value of flag A is true, the system is currently accumulating distance traveled on a flat surface. When the value of flag A is false, the system is not currently accumulating distance traveled on a flat surface.

[0096] The predetermined conditions can be set based on the vehicle's actual driving conditions. In one embodiment, the predetermined conditions may include determining the vehicle's current pitch angle. For example, when the vehicle's current pitch angle is less than a certain value, the system sets Flag A to true; when the vehicle's current pitch angle is greater than a certain value, the system sets Flag A to false. In actual applications, other factors may also be used to trigger the value conversion of Flag A, and this embodiment does not impose specific limitations on this.

[0097] It should be noted that in this embodiment, Mark A can be used as a factor in determining the vehicle's current driving state, and the vehicle's current driving state can also be used as a factor in converting the value of Mark A. In actual application, this can be implemented according to specific program code. Through the above method, the vehicle's current driving state can be determined more accurately and without error.

[0098] In this embodiment, when the vehicle has just completed the action of going up and down stairs, its posture should most likely be in a horizontal state, that is, the pitch angle of the vehicle should be small. However, since the vehicle has just completed the action of going up and down stairs, the value of marker B has not yet been converted, that is, the value of marker B is still true. When the current pitch angle of the vehicle is less than the second preset angle threshold, it will further trigger the system to set marker A to true. When all three conditions above are met, that is, when the current pitch angle of the vehicle is less than the second preset angle threshold, and the system is currently accumulating the distance of the vehicle going up and down stairs, and the system is currently accumulating the distance of the vehicle traveling on a flat area, it can be accurately determined that the vehicle has currently completed the action of going up and down stairs and has just completed the action.

[0099] In order to avoid interference from noise data and to further accurately determine whether the vehicle has currently completed the going up and down stairs action, the method of obtaining the current driving state information of the vehicle based on the current pitch angle in this embodiment further includes: obtaining the cumulative distance that the vehicle is currently traveling in a flat area as a second cumulative distance; and determining whether the second cumulative distance is greater than a preset distance threshold. Under this premise, the method of determining whether the vehicle has currently completed going up and down stairs in this embodiment when the current pitch angle is less than the second preset angle threshold, and the distance accumulation of the vehicle's going up and down stairs driving state is currently being carried out, and the distance accumulation of the vehicle's going up and down stairs driving state is currently being carried out, includes: determining that the vehicle has currently completed going up and down stairs when the current pitch angle is less than the second preset angle threshold, and the distance accumulation of the vehicle's going up and down stairs driving state is currently being carried out, and the second cumulative distance is greater than the preset distance threshold.

[0100] Specifically, in actual applications, the collected data may sometimes experience significant fluctuations due to noise, leading to system misjudgments. This means that the system's collection and judgment of the vehicle's current pitch angle may not be accurate. In this case, the value of marker A may also not be accurate. To eliminate these misjudgment factors, this embodiment employs a distance accumulation and delayed judgment method. Specifically, it determines whether the cumulative distance the vehicle has traveled on a flat surface is greater than a certain threshold. If it is greater than the threshold, it indicates that the system is indeed accumulating the distance the vehicle has traveled on a flat surface, and can therefore determine that the vehicle has indeed completed the upstairs or downstairs movement, and has just completed the movement.

[0101] In this embodiment, the preset distance threshold may be set to 2 m. Of course, in practical applications, other values ​​may be set according to actual conditions, and this embodiment does not impose any specific limitation thereto.

[0102] In this embodiment, the vehicle is equipped with a posture sensor. To more conveniently and accurately obtain the vehicle's current height position information, obtaining the current height position information based on the current driving state information in this embodiment includes: when the vehicle is currently going up or down stairs, or when the vehicle is currently traveling on a flat surface, obtaining the vehicle's current height value via the posture sensor; and using the current height value as the current height position information.

[0103] That is, in this embodiment, when the vehicle is currently going up or down stairs or currently driving on a flat area, the current height value of the vehicle is directly obtained through the attitude sensor as its current height position information, and then the height of the vehicle is positioned based on the current height position information.

[0104] As described above, in this embodiment, the vehicle is equipped with a posture sensor. To more conveniently and accurately obtain the vehicle's current height position information, this embodiment obtains the current height position information based on the current driving state information, including: obtaining the vehicle's current height value via the posture sensor when the vehicle has completed ascending or descending a staircase; and updating the current height value based on a preset standard height, obtaining the updated height value as the current height position information.

[0105] That is, in this embodiment, when the vehicle travels to a new floor, since the height of the floor is determined, the current height value of the vehicle obtained by the attitude sensor can be updated using the preset standard height to perform more accurate height positioning of the vehicle.

[0106] In order to further accurately determine whether the vehicle has actually completed the up / down stairs action, and to further accurately locate the vehicle's height, the method described in this embodiment further includes: obtaining the vehicle's height value at the start of going up / down stairs through the attitude sensor; calculating the deviation between the current height value and the vehicle's height value at the start of going up / down stairs as a first deviation value; and determining whether the first deviation value is greater than a first preset deviation threshold. Under this premise, the method described in this embodiment of updating the current height value based on the preset standard height and obtaining the updated height value as the current height position information includes: when the first deviation value is greater than the first preset deviation threshold, updating the current height value based on the preset standard height and obtaining the updated height value as the current height position information.

[0107] That is, in this embodiment, only when the deviation between the current height value and the height value of the vehicle at the start of going up and down the stairs is greater than a certain threshold, the system confirms that the vehicle has indeed completed the going up and down the stairs action, and the current height value can be updated at this time.

[0108] Specifically, the attitude sensor can obtain the vehicle's altitude at the start and end of the up / down movement, and calculate the difference between the two to obtain the first deviation value. Since the height difference between two adjacent floors is constant, only when the first deviation value is greater than a height difference threshold, i.e., only when the first deviation value is greater than the first preset deviation threshold, can the system further confirm that the vehicle has indeed completed the up / down movement, thereby further accurately determining the vehicle's altitude.

[0109] In this embodiment, each floor of a multi-story parking lot corresponds to a preset standard height, and the preset standard height can be the height of the corresponding floor. That is, in this embodiment, there are multiple preset standard heights. Under this premise, the current height value is updated based on the preset standard height, and the updated height value is obtained as the current height position information, including: calculating the deviation value between each preset standard height and the current height value to obtain multiple second deviation values; selecting the preset standard height corresponding to the minimum value from the multiple second deviation values ​​as the reference height; calculating the deviation value between the reference height and the current height value as the third deviation value; judging whether the third deviation value is less than the second preset deviation threshold; when the third deviation value is less than the second preset deviation threshold, assigning the reference height to the current height value to update the current height value.

[0110] In order to more conveniently and accurately update the current height value of the vehicle obtained subsequently, the method described in this embodiment also includes: determining whether each of the second deviation values ​​is greater than a third preset deviation threshold; when each of the second deviation values ​​is greater than the third preset deviation threshold, saving the current height value as a newly added preset standard height.

[0111] In this embodiment, the above-mentioned method of updating the vehicle's current height value is also referred to as matching the vehicle's historical floor height. Specifically, the system sets a standard height corresponding to each floor based on the actual height value of each floor in the multi-story parking lot, obtains multiple preset standard heights, and stores each preset standard height and its corresponding floor number in a database. When the vehicle completes the up / down movement, that is, each time the vehicle enters a new floor a, the system searches the database for the floor b whose height is closest to the height of floor a obtained by the attitude sensor. If the height difference between floor a and floor b is not much, the two floors are considered to be the same floor. The height of floor b (i.e., the pre-stored preset standard height of floor b) replaces the height of floor a (i.e., the current height value of the vehicle obtained by the attitude sensor), and the floor number of floor b replaces the floor number of floor a. If the height difference between floor a and floor b is significantly, the two floors are considered to be different floors. In this case, the height of floor a is saved and a new, non-repeating floor number is assigned to floor a.

[0112] In order to allow the user to intuitively know the current location of the vehicle and improve the user experience, the method described in this embodiment also includes: obtaining the floor number corresponding to the current height position information based on the current height position information; and displaying the floor number in real time.

[0113] That is, in this embodiment, the vehicle's current floor number can be displayed to the user in real time to further enhance the user experience. Furthermore, this embodiment can also display the vehicle's current altitude information in real time. The real-time display of the current altitude information and floor number can be in the form of an animation, a map, or other convenient display format, and this embodiment does not impose any specific limitations on this.

[0114] FIG2 is a flowchart of a specific program implementation of height positioning in the above-mentioned solution of this embodiment. As shown in FIG2, the overall implementation process of vehicle height positioning includes the following steps:

[0115] 1. Use the vehicle posture information obtained by the attitude sensor to obtain the vehicle's current three-dimensional coordinates and pitch angle;

[0116] 2. When the pitch angle is greater than the maximum threshold, it indicates that the vehicle is tilted, possibly going up or down stairs, or that the collected data is noisy. Set flag A to false and check whether flag B is false:

[0117] a) If flag B is false, indicating that the vehicle is about to go up or down stairs, the mileage accumulation at the large pitch angle begins (i.e., flag B is set to true, clearing the accumulated distance), and the current height of the vehicle is recorded as h1;

[0118] b) If flag B is not false, it indicates that mileage accumulation at a large pitch angle has begun (i.e., distance accumulation as described above). The system then determines whether the accumulated mileage / distance is greater than the threshold. If it is less than the threshold, accumulation continues. If it is greater than the threshold, the vehicle is ascending or descending. The difference between the vehicle's current height and the recorded height h1 is calculated to determine whether the vehicle is ascending or descending. This, in turn, allows the system to determine which floor of the multi-story parking garage the vehicle is on and whether it has reached a new floor.

[0119] 3. When the pitch angle is between the small threshold and the large threshold, it indicates that the vehicle state is uncertain and fuzzy, requiring further confirmation by other conditions. At this time, the system sets flag A to false.

[0120] 4. When the pitch angle is less than the small threshold, check whether flag B is true (that is, check whether the vehicle has previously gone up or down stairs). If flag B is false, it means that the vehicle has been driving on the same floor plane, and output the vehicle's current height and floor number; if flag B is true, further check whether flag A is false:

[0121] a) If yes, start accumulating the mileage under the small pitch angle (i.e. set flag A to true to clear the accumulated mileage) and record the current height of the vehicle as h2;

[0122] b) If not, mileage accumulation at a small pitch angle has begun. The system then checks whether the accumulated mileage exceeds a threshold. If so, accumulation continues. If so, the vehicle has completed the ascent and descent. At this point, the height difference between the ascent and descent process is equal to the difference between the recorded heights h1 and h2. If this value exceeds the threshold, the vehicle confirms that the ascent and descent process occurred in the previous period. The height difference is used to update the vehicle's current altitude, and the vehicle then matches the historical floor heights as described above. Finally, the updated / matched altitude and the corresponding floor number are output.

[0123] This embodiment obtains the vehicle's current pitch angle and three-dimensional coordinates by reading vehicle posture information. These two variables are used to determine whether the vehicle is going up or down a building and provide the current floor number. To address noise interference during the judgment process, a "mileage accumulation" method is used to ensure that the system does not mistakenly determine whether the vehicle is going up or down a building. Furthermore, this embodiment incorporates a historical floor height matching strategy to ensure that the obtained vehicle height position information and floor number are more accurate.

[0124] Step S103 : positioning the vehicle in real time based on the current horizontal position information and the current height position information.

[0125] In this embodiment, the vehicle's current height position information can be accurately obtained through step S102, and the vehicle's current horizontal position information can be obtained through the vehicle's current posture information. The system obtains the vehicle's horizontal position information and height position information in real time and can locate the vehicle in real time based on the above information.

[0126] Based on the above steps S101-S103, the present application can solve the technical problems of the prior art in complex calculation, slow operation speed and inaccurate positioning when positioning a vehicle without receiving satellite signals.

[0127] The technical solution provided by the embodiment of the present application obtains the current posture information of the vehicle, obtains the current horizontal position information of the vehicle and the current height position information of the vehicle in the multi-storey parking lot based on the current posture information, and performs real-time positioning of the vehicle based on the current horizontal position information and the current height position information. This makes it unnecessary for the present application to arrange additional measuring equipment as in the prior art, and only needs to obtain the current posture information of the vehicle to perform real-time positioning of the vehicle. The positioning method is simple and convenient, and the positioning cost is lower. Moreover, the present application can simultaneously obtain the current horizontal position information and the current height position information of the vehicle based on the current posture information of the vehicle, so the positioning result is more accurate. It can be seen that the technical solution provided by the present application can more conveniently and accurately perform real-time positioning of the vehicle at a lower cost.

[0128] The technical solution provided by the embodiments of this application enables high-precision determination of a vehicle's upper and lower floors, providing real-time vehicle location information and the current floor number. This addresses the issue of lacking a priori global height when positioning in multi-story parking lots due to a lack of satellite signal reception. Furthermore, this solution boasts high computational speed, consumes minimal computing resources, and can be run in real time on the vehicle itself.

[0129] Through the method provided by this solution, a special floor meter can also be designed and applied to the vehicle side to perform real-time positioning of vehicles in multi-story parking lots (especially underground parking lots).

[0130] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effect of the present application, different steps do not have to be performed in such an order. They can be performed simultaneously (in parallel) or in other orders. These changes are within the scope of protection of the present application.

[0131] Furthermore, another aspect of the present application provides a computer-readable storage medium. In a computer-readable storage medium embodiment according to the present application, the computer-readable storage medium can be configured to store a program for executing the vehicle positioning method of the above-mentioned method embodiment, and the program can be loaded and run by the processor to implement the above-mentioned vehicle positioning method. For ease of explanation, only the parts related to the embodiment of the present application are shown. For specific technical details not disclosed, please refer to the method section of the embodiment of the present application. The computer-readable storage medium can be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present application is a non-transitory computer-readable storage medium.

[0132] Furthermore, another aspect of the present application provides a vehicle, which may include at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program, and when executed by the at least one processor, the computer program implements the vehicle positioning method described in any of the above embodiments. The vehicle described in the present application may include a driving device, an intelligent vehicle, a robot, or other devices.

[0133] In some embodiments of the present application, the vehicle further includes at least one sensor configured to sense information. The sensor is communicatively coupled to any of the processors described herein. Optionally, the vehicle further includes an autonomous driving system configured to guide the vehicle's autonomous driving or provide assisted driving. The processor communicates with the sensor and / or autonomous driving system to perform the method described in any of the above embodiments.

[0134] Automated Driving Systems (ADS) refers to systems that continuously perform all dynamic driving tasks (DDT) within their operational domain design (ODD). Specifically, the system is only allowed to fully assume the responsibility of autonomous vehicle control under specified driving scenarios. When the vehicle meets the ODD conditions, the system is activated, replacing the human driver as the vehicle's primary driver. The DDT refers to the continuous lateral (left and right steering) and longitudinal motion control (acceleration, deceleration, and constant speed) of the vehicle, as well as the detection and response to objects and events in the vehicle's driving environment. The ODD refers to the conditions under which the automated driving system can safely operate. These conditions can include geographic location, road type, speed range, weather, time of day, and national and local traffic laws and regulations.

[0135] The program for executing the vehicle positioning method of the above-mentioned method embodiment can be divided into multiple subroutines, each of which can be loaded and executed by a processor to execute different steps of the vehicle positioning method of the above-mentioned method embodiment. Specifically, each subroutine can be stored in a different memory, and each processor can be configured to execute the programs in one or more memories to jointly implement the vehicle positioning method of the above-mentioned method embodiment. That is, each processor executes different steps of the above-mentioned method embodiment to jointly implement the vehicle positioning method of the above-mentioned method embodiment.

[0136] The aforementioned multiple processors may be processors deployed on the same device. For example, the aforementioned vehicle may be composed of multiple processors, and the aforementioned multiple processors may be processors configured on the vehicle. Furthermore, the aforementioned multiple processors may be processors deployed on different devices. For example, the aforementioned vehicle may be a server cluster, and the aforementioned multiple processors may be processors on different servers in the server cluster.

[0137] It will be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment of the present application can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium can include: any entity or device, medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium that can carry the computer program code. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0138] Thus far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A vehicle positioning method, characterized in that, Applied to a multi - storey car park, the method includes: Obtain the current pose information of the vehicle; Based on the current pose information, obtain the current horizontal position information of the vehicle and the current height position information of the vehicle in the multi - storey car park; Based on the current horizontal position information and the current height position information, perform real - time positioning of the vehicle.

2. The vehicle positioning method according to claim 1, characterized in that, The vehicle is equipped with an attitude sensor; obtaining the current pose information of the vehicle includes: Obtain the current pose information of the vehicle through the attitude sensor.

3. The vehicle positioning method according to claim 1, characterized in that, Based on the current pose information, obtaining the current height position information of the vehicle in the multi - storey car park includes: Based on the current pose information, obtain the current pitch angle of the vehicle; Based on the current pitch angle, obtain the current driving state information of the vehicle; wherein, the current driving state information includes: whether it is currently going up or down stairs, whether it has completed going up or down stairs, and whether it is currently driving in a flat area; Based on the current driving state information, obtain the current height position information.

4. The vehicle positioning method according to claim 3, characterized in that, Based on the current pitch angle, obtaining the current driving state information of the vehicle includes: Judge whether the current pitch angle is greater than a first preset angle threshold; When the current pitch angle is greater than the first preset angle threshold, determine that the vehicle is currently going up or down stairs.

5. The vehicle positioning method according to claim 4, characterized in that, Based on the current pitch angle, obtaining the current driving state information of the vehicle further includes: Judge whether the distance accumulation of the vehicle's up - and - down - stairs driving state is currently in progress; When the current pitch angle is greater than the first preset angle threshold, determining that the vehicle is currently going up or down stairs includes: When the current pitch angle is greater than the first preset angle threshold and the distance accumulation of the vehicle's up - and - down - stairs driving state is currently in progress, determine that the vehicle is currently going up or down stairs.

6. The vehicle positioning method according to claim 5, characterized in that, Based on the current pitch angle, obtaining the current driving state information of the vehicle further includes: Obtain the accumulated distance of the vehicle's current up - and - down - stairs driving state as a first accumulated distance; Judge whether the first accumulated distance is greater than a preset distance threshold; When the current pitch angle is greater than the first preset angle threshold and the distance accumulation of the vehicle's up - and - down - stairs driving state is currently in progress, determining that the vehicle is currently going up or down stairs includes: When the current pitch angle is greater than the first preset angle threshold and the first accumulated distance is greater than the preset distance threshold, determine that the vehicle is currently going up or down stairs.

7. The vehicle positioning method according to claim 3, characterized in that, Based on the current pitch angle, obtaining the current driving state information of the vehicle includes: Judge whether the current pitch angle is less than a second preset angle threshold; Judge whether the distance accumulation of the vehicle's up - and - down - stairs driving state is currently in progress; When the current pitch angle is less than the second preset angle threshold and the distance accumulation of the vehicle's up - and - down - stairs driving state is not currently in progress, determine that the vehicle is currently driving in a flat area.

8. The vehicle positioning method according to claim 3, characterized in that, Based on the current pitch angle, obtaining the current driving state information of the vehicle includes: Judge whether the current pitch angle is less than a second preset angle threshold; Determine whether the distance accumulation of the vehicle's up-and-down floor driving state is currently in progress; Determine whether the distance accumulation of the vehicle driving in a flat area is currently in progress; When the current pitch angle is less than the second preset angle threshold, and the distance accumulation of the vehicle's up-and-down floor driving state is currently in progress, and the distance accumulation of the vehicle driving in a flat area is currently in progress, determine that the vehicle has currently completed going up and down the floor. The obtaining of the current driving state information of the vehicle based on the current pitch angle further includes:

9. The vehicle positioning method according to claim 8, wherein, Obtain the accumulated distance of the vehicle currently driving in a flat area as the second accumulated distance; Determine whether the second accumulated distance is greater than a preset distance threshold; The determining that the vehicle has currently completed going up and down the floor when the current pitch angle is less than the second preset angle threshold, and the distance accumulation of the vehicle's up-and-down floor driving state is currently in progress, and the distance accumulation of the vehicle driving in a flat area is currently in progress includes: When the current pitch angle is less than the second preset angle threshold, and the distance accumulation of the vehicle's up-and-down floor driving state is currently in progress, and the second accumulated distance is greater than the preset distance threshold, determine that the vehicle has currently completed going up and down the floor. The vehicle is equipped with an attitude sensor; the obtaining of the current height position information based on the current driving state information includes:

10. The vehicle positioning method according to claim 3, wherein, When the vehicle is currently going up and down the floor, or when the vehicle is currently driving in a flat area, obtain the current height value of the vehicle through the attitude sensor; Take the current height value as the current height position information. The vehicle is equipped with an attitude sensor; the obtaining of the current height position information based on the current driving state information includes:

11. The vehicle positioning method according to claim 3, wherein, When the vehicle has currently completed going up and down the floor, obtain the current height value of the vehicle through the attitude sensor; Based on a preset standard height, update the current height value to obtain the updated height value as the current height position information. The method further includes:

12. The vehicle positioning method according to claim 11, wherein, Obtain the height value of the vehicle at the start time of going up and down the floor through the attitude sensor; Calculate the deviation value between the current height value and the height value of the vehicle at the start time of going up and down the floor as the first deviation value; Determine whether the first deviation value is greater than a first preset deviation threshold; The updating of the current height value based on a preset standard height to obtain the updated height value as the current height position information includes: When the first deviation value is greater than the first preset deviation threshold, update the current height value based on the preset standard height to obtain the updated height value as the current height position information. There are multiple preset standard heights; the updating of the current height value based on a preset standard height to obtain the updated height value as the current height position information includes:

13. The vehicle positioning method according to claim 11, wherein, Calculate the deviation value between each preset standard height and the current height value to obtain multiple second deviation values; Select the preset standard height corresponding to the minimum value from the multiple second deviation values as the reference height; ​ Calculate the deviation value between the reference height and the current height value as the third deviation value; Determine whether the third deviation value is less than a second preset deviation threshold; When the third deviation value is less than the second preset deviation threshold, assign the reference height to the current height value to update the current height value.

14. The vehicle positioning method according to claim 13, wherein, The method further includes: Determine whether each of the second deviation values is greater than a third preset deviation threshold; When each of the second deviation values is greater than the third preset deviation threshold, save the current height value as a newly added preset standard height.

15. The vehicle positioning method according to claim 1, wherein, The method further includes: Based on the current height position information, obtain the floor number corresponding to the current height position information; Display the floor number in real time.

16. A computer-readable storage medium, in which multiple program codes are stored, wherein,The program code is adapted to be loaded and run by a processor to execute the vehicle positioning method according to any one of claims 1 to 15.

17. A vehicle, characterized in that, Comprising: At least one processor; And a memory communicatively connected to the at least one processor; Wherein, the memory stores a computer program, and when the computer program is executed by the at least one processor, the vehicle positioning method according to any one of claims 1 to 15 is implemented.

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