CN116608870A - Vehicle positioning navigation system and method for network-free parking lot and vehicle - Google Patents
Vehicle positioning navigation system and method for network-free parking lot and vehicle Download PDFInfo
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- CN116608870A CN116608870A CN202310616310.5A CN202310616310A CN116608870A CN 116608870 A CN116608870 A CN 116608870A CN 202310616310 A CN202310616310 A CN 202310616310A CN 116608870 A CN116608870 A CN 116608870A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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Abstract
The application discloses a vehicle positioning navigation system and method without a network parking lot and a vehicle, and relates to the technical field of traffic navigation; when the GPS signal is lost, determining the relative position of the vehicle stop position and the GPS signal loss position according to the azimuth angle of the GPS signal loss position, the wheel speed average value of two non-driven wheels in the period from the loss position to the vehicle stop position and the steering wheel rotation angle; in a second aspect, the system includes a determination module and an assisted positioning module. In a third aspect, a vehicle includes a vehicle positioning navigation system for a network-free parking lot. The relative position of the vehicle stopping position and the GPS signal losing position is determined through the azimuth angle of the GPS signal losing position, the wheel speed average value of two non-driving wheels in the period from the losing position to the vehicle stopping position and the steering wheel rotation angle, so that the position information of the parking position can be accurately obtained in the network-free parking area environment, and a reference is provided for a driver to search vehicles in the network-free parking area.
Description
Technical Field
The application relates to the technical field of traffic navigation, in particular to a vehicle positioning navigation system and method of a network-free parking lot and a vehicle.
Background
Vehicle navigation is a technology with great application prospect at present, and the wide application of the technology benefits from the application and development of the United states Global positioning System (Global Position System, GPS) technology. The GPS system calculates the positioning information of the target through wireless satellite signals transmitted by 24 satellites distributed in space, and has the advantages of being global, all-weather, high in precision, good in real-time and the like.
However, due to the characteristic of linear propagation of satellite signals, the GPS signals are easily blocked by high buildings, big trees or tunnels, so that corresponding GPS signals cannot be received at the positions, and a vacuum zone of the GPS signals is formed. The existing navigation piece generally needs uninterrupted input of GPS signals to work normally, and when the GPS signals are too weak or are not present, navigation software cannot judge the current accurate position of the vehicle, so that the navigation piece cannot work normally.
Although equipment such as a gyroscope is installed in a vehicle at present, a driving route can be calculated according to the gyroscope under the condition that satellite signals are absent. However, due to the high price of equipment such as gyroscopes, it is difficult for some low-end vehicles without gyroscopes to perform route planning in the absence of satellite signals.
Disclosure of Invention
Aiming at the defects in the prior art, the application aims to provide a vehicle positioning navigation system and method without a network parking lot and a vehicle, so as to solve the problem that the vehicle positioning navigation service cannot be provided for a driver when the vehicle enters the vehicle without the network parking lot without hardware equipment in the prior art.
In order to achieve the above purpose, the application adopts the following technical scheme:
in a first aspect, a vehicle positioning navigation method for a network-free parking lot is provided, which includes the following steps:
judging whether the GPS signal is lost or not;
when the GPS signal is lost, determining the relative position of the vehicle stop position and the GPS signal loss position according to the azimuth angle of the GPS signal loss position, the wheel speed average value of two non-driven wheels in the period from the loss position to the vehicle stop position and the steering wheel rotation angle.
In some alternative embodiments, determining the relative position of the vehicle stop and the GPS signal loss according to the azimuth angle of the GPS signal loss and the average wheel speed and steering angle of the two non-driven wheels in the period from the loss to the vehicle stop includes:
determining the speed and the speed direction of the vehicle at the centroid of the vehicle according to the azimuth angle of the GPS signal loss position, the average value of the wheel speeds of two non-driven wheels in the period from the loss position to the vehicle stop and the steering wheel rotation angle;
determining the relative distance and the relative azimuth angle between the stopping position of the vehicle and the position where the GPS signal is lost according to the vehicle speed and the vehicle speed direction at the center of mass of the vehicle;
and determining the relative positions of the vehicle stop and the GPS signal loss according to the relative distance and the relative azimuth angle of the vehicle stop and the GPS signal loss.
In some alternative embodiments, the determining the relative position of the stop of the vehicle and the loss of GPS signal further includes:
and determining the displacement height difference of the vehicle according to the azimuth angle of the GPS signal loss position, the wheel speed average value of two non-driven wheels in the period from the loss position to the vehicle stop, the steering wheel angle and the road surface gradient.
In some alternative embodiments, the determining the vehicle speed and the vehicle speed direction at the center of mass of the vehicle includes:
according to V vehicle ＝V rear ×cos(γ l -γ r ) Determining vehicle speed V at vehicle centroid vehicle Wherein V is rear Is the average value of the wheel speeds of two non-driven wheels, gamma l For left steering wheel angle, gamma r For turning the right steering wheel, the gamma l And gamma r According to the steering wheel angle, looking up a table;
according toDetermining a vehicle speed direction gamma at a vehicle centroid vehicle Where phi is the azimuth of the vehicle at the loss of signal and τ is the direction constant.
In some alternative embodiments, determining the relative distance and the relative azimuth of the stop of the vehicle and the loss of the GPS signal comprises:
according to
Determining relative displacement D of centroid after stopping vehicle vehicle ；
According toDetermining relative azimuth angle θ after vehicle stop vehicle Where t is the time from the loss of the GPS signal to the stop of the vehicle.
In some alternative embodiments, the determining the displacement-height difference of the vehicle includes, according toDetermining a displacement-height difference H of a vehicle vehicle Wherein alpha is vehicle Is the road surface gradient.
In some alternative embodiments, determining the relative position of the vehicle stop and the GPS signal loss includes:
Δx＝D vehicle *cosθ vehicle ，Δy＝D vehicle *sinθ vehicle ，Δz＝H vehicle where Δx is the displacement of the vehicle stop in the forward east direction relative to the GPS loss of signal, Δy is the displacement of the vehicle stop in the forward north direction relative to the GPS loss of signal, and Δz is the displacement of the vehicle stop in the elevation direction relative to the GPS loss of signal.
In a second aspect, there is also provided a vehicle positioning navigation system of a network-free parking lot, including:
the judging module is used for being in signal connection with the GPS positioning module and judging whether the signal of the GPS positioning module is lost or not;
and the auxiliary positioning module is in signal connection with the judging module and the GPS positioning module and is used for acquiring an azimuth angle of a GPS signal loss part and a wheel speed average value and a steering wheel corner of two non-driven wheels in a period from the loss part to the vehicle stop part when the signal of the GPS positioning module is lost, and determining the relative position of the vehicle stop part and the GPS signal loss part.
In some alternative embodiments, the auxiliary positioning module further includes determining the displacement height difference of the vehicle according to an azimuth angle of the position where the GPS signal is lost and an average value of wheel speeds of two non-driven wheels, a steering wheel angle and a road gradient in a period from the position where the GPS signal is lost to the stop of the vehicle.
In a third aspect, a vehicle is further provided, including the above vehicle positioning navigation system of the network-free parking lot.
Compared with the prior art, the application has the advantages that: and determining the relative positions of the vehicle stop position and the GPS signal loss position according to the azimuth angle of the GPS signal loss position, the wheel speed average value of two non-driven wheels in the period from the loss position to the vehicle stop position and the steering wheel rotation angle. Therefore, the positioning information of the vehicle cannot be timely obtained through the GPS positioning system in the network-free parking lot environment, and the parking lot is not provided with auxiliary positioning equipment such as an intelligent parking spot lock and a server, so that the position information of a parking place can be accurately obtained, and a reference is provided for a driver to search the vehicle in the network-free parking lot environment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a vehicle positioning and navigation method for a network-free parking lot.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Embodiments of the present application are described in further detail below with reference to the accompanying drawings.
In one aspect, as shown in fig. 1, the present application provides a vehicle positioning and navigation method for a network-free parking lot, comprising the following steps:
s1: and judging whether the GPS signal is lost or not.
It can be understood that the position information of the vehicle is positioned in real time by a GPS positioning module installed on the vehicle and is input as navigation information. In the case that the positioning signal of the vehicle is good, the navigation system can determine the position of the vehicle by receiving the GPS signal; when a vehicle enters a parking lot without network signals, the GPS signals are lost, and the network-free vehicle positioning navigation system is automatically activated.
S2: when the GPS signal is lost, determining the relative position of the vehicle stop position and the GPS signal loss position according to the azimuth angle of the GPS signal loss position, the wheel speed average value of two non-driven wheels in the period from the loss position to the vehicle stop position and the steering wheel rotation angle.
It will be appreciated that when a vehicle enters the entrance position of the parking lot, the entrance position of the parking lot is recorded by the GPS positioning module, and the entrance of the parking lot is defined as the origin O (x) 0 ，y 0 ，z 0 ) Wherein the x direction is the positive east, the y direction is the positive north, and the z direction is the vertical direction. After the parking lot coordinate system is established, the vehicle records GPS positioning information in real time after entering the parking lotAnd stopping until the GPS signal of the vehicle is lost.
In some alternative embodiments, the assisted positioning module includes an information acquisition sub-module and an information processing sub-module. When the GPS signal of the vehicle is lost, the vehicle-mounted terminal acquires real-time information of the vehicle and GPS coordinate information of the vehicle at the position where the signal is lost through the information acquisition sub-module, then the real-time vehicle speed information, the GPS coordinate information and the coordinate information of the entrance of the parking lot are sent to the information processing sub-module, the relative position information of the vehicle at the stop position is determined through the information processing sub-module, and the absolute position information of the vehicle at the stop position is determined by combining the origin O of the coordinate system and the GPS position information of the position where the signal is lost, and the absolute position information is started to the mobile terminal.
Specifically, the step S2 includes:
s21: and determining the speed and the speed direction of the vehicle at the center of mass according to the azimuth angle of the GPS signal loss position, the average value of the wheel speeds of two non-driven wheels in the period from the loss position to the vehicle stop position and the steering wheel rotation angle.
For example, when the GPS signal is lost, the position coordinate information of the lost position is obtained, and the position coordinate (x) of the lost position in the parking lot coordinate system is obtained after the position coordinate information is compared according to the coordinate information of the origin O of the coordinate system 1 ，y 1 ，z 1 ). And the direction angle at the signal losing position is obtained, and the angle between the running direction of the vehicle and the north can be understood as the average value of the wheel speeds of two non-driven wheels and the steering wheel angle in the period from the losing position to the stopping of the vehicle.
According to the steering angle of the steering wheel, obtaining the left steering wheel steering angle and the right steering wheel steering angle through table lookup, and then according to V vehicle ＝V rear ×cos(γ l -γ r ) Determining a vehicle speed at a vehicle centroid, wherein V rear Is the average value of the wheel speeds of two non-driven wheels, gamma l For left steering wheel angle, gamma r Is the right steering wheel angle;
according toThe direction of the vehicle speed at the centroid of the vehicle is determined, where phi is the azimuth of the vehicle at the loss of signal and τ is the direction constant.
When the GPS signal is lost, the vehicle travels in the southeast/northwest direction, and the vehicle turns left to τ=1 and turns right to τ= -1; when the vehicle is traveling in the northeast/southwest direction, the left turn is τ= -1, and the right turn is τ=1.
S22: and determining the relative distance and the relative azimuth angle between the stopping position of the vehicle and the position where the GPS signal is lost according to the speed and the speed direction of the vehicle at the center of mass of the vehicle.
In particular, according to Determining relative displacement D after stopping of vehicle vehicle ；
According toDetermining relative azimuth angle θ after vehicle stop vehicle Where t is the time from the loss of the GPS signal to the stop of the vehicle.
It will be understood that if the vehicle is traveling in a single-floor parking lot, the displacement difference in the vertical direction is zero or close to zero at this time, so that it is only necessary to convert the information of the relative position change at the vehicle stop into absolute geographical position information by combining the origin of coordinates O and GPS information at the signal loss point according to the relative displacement and the relative azimuth angle after the vehicle stop, and to launch the absolute position information to the mobile terminal through the vehicle-mounted terminal.
Preferably, the absolute position information of the vehicle stop, the relative distance, the relative azimuth and the relative altitude information of the entrance of the relative parking lot can be transmitted to the mobile terminal through a Bluetooth communication mode.
If the vehicle is traveling in a multi-story parking lot, it may also occur that the relative height of the vehicle changes after stopping, and in this case, in some alternative embodiments, the step S22 further includes:
and determining the displacement height difference of the vehicle according to the azimuth angle of the GPS signal loss position, the wheel speed average value of two non-driven wheels in the period from the loss position to the vehicle stop, the steering wheel angle and the road surface gradient.
According toDetermining a displacement-height difference H of a vehicle vehicle Wherein alpha is vehicle Is the road surface gradient.
S23: and determining the relative positions of the vehicle stop and the GPS signal loss according to the relative distance, the relative azimuth angle and the displacement height difference of the vehicle stop and the GPS signal loss.
Specifically, the relative position of the vehicle stop and the GPS signal loss is calculated by Δx=d vehicle *cosθ vehicle ，Δy＝D vehicle *sinθ vehicle ，Δz＝H vehicle The determination is made wherein Δx is the displacement of the vehicle stop in the forward east direction relative to the GPS loss of signal, Δy is the displacement of the vehicle stop in the forward north direction relative to the GPS loss of signal, and Δz is the displacement of the vehicle stop in the elevation direction relative to the GPS loss of signal.
The stop position of the vehicle is the parking position of the vehicle.
It can be understood that after Δx, Δy and Δz are determined, the relative position coordinate information of the parking position can be converted into absolute geographical position information by combining the coordinate origin O and the GPS position information at the signal loss position, and the absolute position information of the parking position information, the relative distance at the entrance of the relative parking lot, the relative azimuth and the relative altitude information are sent to the mobile terminal in a bluetooth communication mode.
Preferably, the absolute position information of the parking position information, the relative distance, the relative azimuth and the relative height information at the entrance of the relative parking lot can be uploaded to a map, the position information of the entrance of the parking lot is set as a starting position, the position of a driver is set as an intermediate position, the final parking position on the map is determined by referring to the scale of the map and the final parking position and the relative position at the entrance of the parking lot, the floor at the relative starting point of the parking position is determined by the height information in the multi-layer parking lot environment, and convenience is provided for the driver to seek vehicles by the information.
In a second aspect, the application also provides a vehicle positioning navigation device without a network parking lot, which comprises a judging module and an auxiliary positioning module, wherein the judging module is used for connecting signals of the GPS positioning module and judging whether signals of the GPS positioning module are lost or not; the auxiliary positioning module determines the final parking position of the vehicle by acquiring the position information and the vehicle information of the vehicle after the signal of the GPS positioning module is lost, so that a driver can find the parking position of the vehicle in a parking lot without GPS signals.
It can be understood that the auxiliary positioning module is in signal connection with the judging module and the GPS positioning module, and is configured to obtain an azimuth angle of a position where a GPS signal is lost and a wheel speed average value and a steering wheel angle of two non-driven wheels in a period from the position where the GPS signal is lost to a vehicle stop time, and determine a relative position between the vehicle stop position and the position where the GPS signal is lost when the signal of the GPS positioning module is lost.
The GPS global positioning system positioning module installed on the vehicle is used for positioning the position information of the vehicle in real time and inputting the position information as navigation information. In the case that the positioning signal of the vehicle is good, the navigation system can determine the position of the vehicle by receiving the GPS signal; when a vehicle enters a parking lot without network signals, the GPS signals are lost, and the network-free vehicle positioning navigation system is automatically activated.
In some optional embodiments, the auxiliary positioning module comprises an information acquisition sub-module and an information processing sub-module, wherein the information acquisition sub-module is in signal connection with the GPS positioning module and the auxiliary positioning module and is used for acquiring a wheel speed average value of two non-driven wheels, a steering wheel corner and an azimuth angle of a vehicle at a signal loss position; the information processing sub-module is in signal connection with the information acquisition sub-module and is used for determining the relative displacement and the relative displacement angle of the mass center after the vehicle stops according to the information acquired by the information acquisition sub-module and combining the time from signal loss to vehicle stop.
For example, when a vehicle enters the entrance position of a parking lot, the entrance position of the parking lot is recorded by a GPS (global positioning system) positioning module, and the entrance position of the parking lot is defined as the origin O (x) 0 ，y 0 ，z 0 ) Wherein the x direction is the positive east, the y direction is the positive north, and the z direction is the vertical direction. After a parking lot coordinate system is established, the vehicle records GPS positioning information in real time after entering the parking lot until the GPS signal of the vehicle is lost. When the GPS signal of the vehicle is lost, the vehicle-mounted terminal acquires real-time information of the vehicle and GPS coordinate information of the vehicle at the position where the signal is lost through the information acquisition sub-module, then the real-time vehicle speed information, the GPS coordinate information and the coordinate information of the entrance of the parking lot are sent to the information processing sub-module, the relative position information of the vehicle at the stop position is determined through the information processing sub-module, and the absolute position information of the vehicle at the stop position is determined by combining the origin O of the coordinate system and the GPS position information of the position where the signal is lost, and the absolute position information is started to the mobile terminal.
Specifically, the speed and the speed direction of the vehicle at the center of mass are determined according to the azimuth angle of the GPS signal loss position, the average value of the wheel speeds of two non-driven wheels in the period from the loss position to the vehicle stop, and the steering wheel rotation angle.
For example, when a GPS signal is lost, position coordinate information of the lost position is obtained, and the position coordinate (x) of the lost position in the parking lot coordinate system is obtained after comparing the position coordinate information according to the coordinate system origin O 1 ，y 1 ，z 1 ). And the direction angle at the signal losing position is obtained, and the angle between the running direction of the vehicle and the north can be understood as the average value of the wheel speeds of two non-driven wheels and the steering wheel angle in the period from the losing position to the stopping of the vehicle.
Then, according to the steering angle of the steering wheel, obtaining the left steering wheel steering angle and the right steering wheel steering angle through table lookup, and then according to V vehicle ＝V rear ×cos(γ l -γ r ) Determining a vehicle speed at a vehicle centroid, wherein V rear Is two in numberAverage value of wheel speed of non-driven wheel, gamma l For left steering wheel angle, gamma r Is the right steering wheel angle; according toThe direction of the vehicle speed at the centroid of the vehicle is determined, where phi is the azimuth of the vehicle at the loss of signal and τ is the direction constant.
When the GPS signal is lost, the vehicle travels in the southeast/northwest direction, and the vehicle turns left to τ=1 and turns right to τ= -1; when the vehicle is traveling in the northeast/southwest direction, the left turn is τ= -1, and the right turn is τ=1.
Then, according to the speed and the speed direction of the vehicle at the center of mass of the vehicle, the relative distance and the relative azimuth angle between the stop position of the vehicle and the position where the GPS signal is lost are determined. According to Determining relative displacement D after stopping of vehicle vehicle The method comprises the steps of carrying out a first treatment on the surface of the According to-> Determining relative azimuth angle θ after vehicle stop vehicle Where t is the time from the loss of the GPS signal to the stop of the vehicle.
In some alternative embodiments, the auxiliary positioning module further includes determining the displacement height difference of the vehicle according to an azimuth angle of the position where the GPS signal is lost and an average value of wheel speeds of two non-driven wheels, a steering wheel angle and a road gradient in a period from the position where the GPS signal is lost to the stop of the vehicle.
It can be understood that if the vehicle is traveling in a single-layer parking lot, the information of the relative position change of the vehicle stop is converted into absolute geographical position information according to the relative displacement and the relative azimuth angle of the vehicle after the vehicle is stopped and by combining the origin of coordinates O and the GPS information of the signal loss, so that the absolute position information can be launched to the mobile terminal through the vehicle-mounted terminal.
If the vehicle is traveling in the multi-layer parking lot, it may occur that the relative height of the vehicle is changed after the vehicle is stopped, and at this time, the displacement height difference of the vehicle is determined according to the azimuth angle of the lost position of the GPS signal and the wheel speed average value of two non-driven wheels, the steering wheel angle and the road surface gradient in the period from the lost position to the vehicle stop.
In some alternative embodiments, according to Determining a displacement-height difference H of a vehicle vehicle Wherein alpha is vehicle Is the road surface gradient.
Further, the auxiliary positioning module can also determine the relative position of the vehicle stop and the GPS signal loss according to the relative distance, the relative azimuth angle and the displacement height difference of the vehicle stop and the GPS signal loss.
Specifically, the relative position of the vehicle stop and the GPS signal loss is calculated by Δx=d vehicle *cosθ vehicle ，Δy＝D vehicle *sinθ vehicle ，Δz＝H vehicle The determination is made wherein Δx is the displacement of the vehicle stop in the forward east direction relative to the GPS loss of signal, Δy is the displacement of the vehicle stop in the forward north direction relative to the GPS loss of signal, and Δz is the displacement of the vehicle stop in the elevation direction relative to the GPS loss of signal.
The stop position of the vehicle is the parking position of the vehicle.
It can be understood that after Δx, Δy and Δz are determined, the relative position coordinate information of the parking position can be converted into absolute geographical position information by combining the coordinate origin O and the GPS position information at the signal loss position, and the absolute position information of the parking position information, the relative distance at the entrance of the relative parking lot, the relative azimuth and the relative altitude information are sent to the mobile terminal in a bluetooth communication mode.
Preferably, the absolute position information of the parking position information, the relative distance, the relative azimuth and the relative height information at the entrance of the relative parking lot can be uploaded to a map, the position information of the entrance of the parking lot is set as a starting position, the position of a driver is set as an intermediate position, the final parking position on the map is determined by referring to the scale of the map and the final parking position and the relative position at the entrance of the parking lot, the floor at the relative starting point of the parking position is determined by the height information in the multi-layer parking lot environment, and convenience is provided for the driver to seek vehicles by the information.
In a third aspect, the application further provides a vehicle, comprising the vehicle positioning navigation system without the network parking lot.
It can be understood that the vehicle positioning navigation system of the network-free parking lot is installed in a vehicle and connected with a mobile terminal in a Bluetooth mode and the like, so that the parking lot does not need to be provided with an intelligent parking space lock and a server, and a scheme for improving positioning accuracy of the vehicle navigation system at a GPS blind spot and a position with weak GPS signals is provided.
The vehicle positioning navigation system of the network-free parking lot acquires azimuth angles of the positions where GPS signals are lost and wheel speed average values of two non-driven wheels, steering wheel angles and other important information from the positions where the GPS signals are lost to a vehicle stopping time period from the positions where the GPS signals are lost, acquires current geographic position information of the vehicle through a GPS module, and then determines the accurate geographic position of the parking position of the vehicle by using the information. In addition, the vehicle positioning navigation system without the network parking lot can also transmit the current geographic position information of the vehicle and other important information acquired from the vehicle-mounted bus network to a remote background server through the GPRS module, and the background server determines whether to send relevant reminding and warning information to the vehicle-mounted navigation system or a driver according to the information transmitted by the vehicle.
The vehicle adopting the vehicle positioning navigation system of the network-free parking lot does not need to increase the cost, accurately positions the vehicle in the network-free environment with complex terrain and provides the vehicle searching route reference for the driver, thereby improving the vehicle using experience of the driver.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that in the present application, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The vehicle positioning and navigation method for the network-free parking lot is characterized by comprising the following steps of:
judging whether the GPS signal is lost or not;
when the GPS signal is lost, determining the relative position of the vehicle stop position and the GPS signal loss position according to the azimuth angle of the GPS signal loss position, the wheel speed average value of two non-driven wheels in the period from the loss position to the vehicle stop position and the steering wheel rotation angle.
2. The method for positioning and navigating a vehicle in a network-free parking lot according to claim 1, wherein determining the relative position between the vehicle stop and the GPS signal loss according to the azimuth angle of the GPS signal loss and the average of the wheel speeds and steering angles of two non-driven wheels in a period from the loss to the vehicle stop comprises:
determining the speed and the speed direction of the vehicle at the centroid of the vehicle according to the azimuth angle of the GPS signal loss position, the average value of the wheel speeds of two non-driven wheels in the period from the loss position to the vehicle stop and the steering wheel rotation angle;
determining the relative distance and the relative azimuth angle between the stopping position of the vehicle and the position where the GPS signal is lost according to the vehicle speed and the vehicle speed direction at the center of mass of the vehicle;
and determining the relative positions of the vehicle stop and the GPS signal loss according to the relative distance and the relative azimuth angle of the vehicle stop and the GPS signal loss.
3. The network-free parking lot vehicle positioning navigation method of claim 2, wherein the determining the relative position of the vehicle stop and the GPS signal loss further comprises:
and determining the displacement height difference of the vehicle according to the azimuth angle of the GPS signal loss position, the wheel speed average value of two non-driven wheels in the period from the loss position to the vehicle stop, the steering wheel angle and the road surface gradient.
4. A method of vehicle location and navigation in a networked parking lot as recited in claim 3, wherein said determining the speed and direction of the vehicle at the centroid of the vehicle comprises:
according to V vehicle ＝V rear ×cos(γ l -γ r ) Determining a vehicle speed at a vehicle centroid, wherein V rear Is the average value of the wheel speeds of two non-driven wheels, gamma l For left steering wheel angle, gamma r For right steering wheel angle, the gamma is l And gamma r According to the steering wheel angle, looking up a table;
according toThe direction of the vehicle speed at the centroid of the vehicle is determined, where phi is the azimuth of the vehicle at the loss of signal and τ is the direction constant.
5. The network-free parking lot vehicle positioning navigation method of claim 4, wherein the determining the relative distance and the relative azimuth of the vehicle stop and the GPS signal loss comprises:
according to
Determining relative displacement D of centroid after stopping vehicle vehicle ；
According toDetermining relative azimuth angle θ after vehicle stop vehicle Wherein t is the loss of the vehicle from the GPS signalLost time to the vehicle stop.
6. The method for vehicle positioning and navigation in a network-less parking lot according to claim 5, wherein said determining a displacement-height difference of the vehicle comprises, according toDetermining a displacement-height difference H of a vehicle vehicle Wherein alpha is vehicle Is the road surface gradient.
7. The network-free parking lot vehicle positioning navigation method of claim 6, wherein the determining the relative position of the vehicle stop and the GPS signal loss comprises:
Δx＝D vehicle *cosθ vehicle ，Δy＝D vehicle *sinθ vehicle ，Δz＝H vehicle where Δx is the displacement of the vehicle stop in the forward east direction relative to the GPS loss of signal, Δy is the displacement of the vehicle stop in the forward north direction relative to the GPS loss of signal, and Δz is the displacement of the vehicle stop in the elevation direction relative to the GPS loss of signal.
8. A network-free parking lot vehicle positioning navigation system, comprising:
the judging module is used for being in signal connection with the GPS positioning module and judging whether the signal of the GPS positioning module is lost or not;
the auxiliary positioning module is in signal connection with the judging module and the GPS positioning module, and is used for acquiring an azimuth angle of a GPS signal loss part and a wheel speed average value and a steering wheel corner of two non-driven wheels in a period from the loss part to the vehicle stop part when the signal of the GPS positioning module is lost, and determining the relative position of the vehicle stop part and the GPS signal loss part.
9. The network-free parking lot vehicle positioning navigation system of claim 8, wherein the auxiliary positioning module further comprises determining a displacement height difference of the vehicle based on an azimuth angle of a GPS signal loss and a wheel speed average value of two non-driven wheels, a steering wheel angle and a road surface gradient from the loss to a vehicle stop time period.
10. A vehicle comprising a network-free parking lot vehicle positioning navigation system as claimed in any one of claims 8-9.
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