CN108961811B - Parking lot vehicle positioning method, system, mobile terminal and storage medium - Google Patents
Parking lot vehicle positioning method, system, mobile terminal and storage medium Download PDFInfo
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- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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- 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
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Abstract
The invention provides a parking lot vehicle positioning method, a parking lot vehicle positioning system, a mobile terminal and a storage medium, wherein the method comprises the following steps: a first-stage positioning process: when any vehicle is in a positioning mode, determining the position of a parking lot, the entrance of the parking lot, the position of the vehicle and the heading angle of the vehicle through a vehicle-mounted map and a GPS, and reducing the positioning error of the vehicle to a first error range; and a second-stage positioning process: further determining the position of the vehicle through the grid map, the motion attitude of the vehicle and the detected travelable area, and reducing the positioning error of the vehicle to a second error range with the numerical value smaller than the first error range; and a third-stage positioning process: and further determining the position of the vehicle through landmark information in the landmark map and the motion posture of the vehicle, and reducing the vehicle positioning error to a third error range with the value smaller than the second error range. The invention effectively improves the positioning precision of the parking lot by positioning the vehicles step by step, and provides an effective means for autonomous parking of the vehicles in the parking lot.
Description
Technical Field
The invention relates to the field of computer communication and network security, in particular to a parking lot vehicle positioning method, a parking lot vehicle positioning system, a mobile terminal and a storage medium.
Copyright declaration
The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.
Background
The increase of the automobile holding amount promotes the development of large-scale parking lots, and since the twenty-first century, the large-scale parking lots are more and more, and the scale of the parking lots is gradually enlarged, so that a series of parking and vehicle taking problems are brought, and the problem becomes a social problem commonly faced by each large and medium-sized city in the world.
First, in the case where the number of urban vehicles is increasing and traffic congestion is getting more serious, the difficulty of parking in a city is greatly increased. Many drivers feel that it is difficult to drive parking skills. Secondly, the car owner faces gradually increased tour distance due to the fact that the car owner searches for the parking space when parking, and the walking distance of the car owner when walking out of the parking lot is increased, so that physical strength, time and energy cost of the car owner are increased; meanwhile, the parking spaces of the large parking lot are numerous and the indication is not clear enough, so that great troubles are caused for vehicle searching due to the vast parking spaces.
In the present day that vehicles are developed more and more, vehicle intellectualization is a major trend of vehicle future development, and how to effectively obtain a map of a parking lot and locate vehicles in the parking lot is a technical problem which needs to be solved urgently in the process of realizing autonomous parking of the vehicles.
The current outdoor positioning of vehicles is mainly based on satellite positioning (including differential) technology. But the method is easily influenced by tall buildings and trees, and ideal precision cannot be achieved in many scenes. In addition, there is no satellite signal indoors, and satellite positioning cannot be used.
The existing indoor positioning technology also comprises wireless technologies such as Wi-Fi, Bluetooth and UWB, but the existing indoor positioning technology is greatly limited due to installation, data acquisition and maintenance of indoor infrastructure.
Disclosure of Invention
In order to solve the above and other potential technical problems, an embodiment of the present invention provides a parking lot vehicle positioning method, including: a first-stage positioning process: when any vehicle is in a positioning mode, determining the position of a parking lot, the entrance of the parking lot, the position of the vehicle and the heading angle of the vehicle through a vehicle-mounted map and a GPS, and reducing the positioning error of the vehicle to a first error range; and a second-stage positioning process: further determining the position of the vehicle through the grid map, the motion attitude of the vehicle and the detected travelable area, and reducing the positioning error of the vehicle to a second error range with the numerical value smaller than the first error range; and a third-stage positioning process: and further determining the position of the vehicle through landmark information in the landmark map and the motion posture of the vehicle, and reducing the vehicle positioning error to a third error range with the value smaller than the second error range.
In an embodiment of the present invention, the landmark information includes coordinates of a corner point of a parking space, an edge of a pillar in the parking space, a projection of the pillar, and an edge of an anti-collision strip.
In an embodiment of the present invention, the drivable area includes a straight road surface, an entrance road surface and an intersection road surface.
In an embodiment of the present invention, the motion attitude of the vehicle includes position information and a heading angle; and acquiring the motion attitude of the vehicle according to the steering wheel angle, the wheel pulse, the speed parameter of the vehicle inertia measuring unit and the GPS.
An embodiment of the present invention also provides a parking lot vehicle positioning system, including: the first-stage positioning unit determines the position of a parking lot, an entrance of the parking lot, the position of a vehicle and the course angle of the vehicle through a vehicle-mounted map and a GPS when any vehicle is in a positioning mode, and reduces the positioning error of the vehicle to a first error range; the second-stage positioning unit is used for further determining the position of the vehicle through the grid map, the motion attitude of the vehicle and the detected travelable area, reducing the positioning error of the vehicle to a second error range with the numerical value smaller than the first error range, passing through the grid map, further determining the position of the vehicle through the motion attitude of the vehicle and the detected travelable area, and reducing the positioning error of the vehicle to a second error range with the numerical value smaller than the first error range; and the third-level positioning unit is used for further determining the position of the vehicle and reducing the positioning error of the vehicle to a third error range with the numerical value smaller than the second error range through the landmark information in the landmark map and the motion attitude of the vehicle.
In an embodiment of the present invention, the landmark information includes coordinates of a corner point of a parking space, an edge of a pillar in the parking space, a projection of the pillar, and an edge of an anti-collision strip.
In an embodiment of the present invention, the drivable area includes a straight road surface, an entrance road surface and an intersection road surface.
In an embodiment of the present invention, the motion attitude of the vehicle includes position information and a heading angle; and acquiring the motion attitude of the vehicle according to the steering wheel angle, the wheel pulse, the speed parameter of the vehicle inertia measuring unit and the GPS.
An embodiment of the present invention provides a mobile terminal, including a processor and a memory, where the memory stores program instructions, and the processor executes the program instructions to implement the steps in the method as described above.
Embodiments of the present invention provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps in the method as described above.
As described above, the parking lot vehicle positioning method, system, mobile terminal and storage medium of the present invention have the following beneficial effects:
the embodiment of the invention positions the vehicle step by utilizing the motion attitude of the vehicle, the vehicle-mounted map, the odometer for estimating the change of the motion attitude of the vehicle, the detected drivable area, the GPS, the grid map and the landmark map, thereby effectively improving the positioning precision, so that the vehicle plans the navigation path according to the positioning of the vehicle-mounted map and the current vehicle, and realizing the autonomous parking. The invention provides an effective means for autonomous parking of vehicles in the parking lot, and has higher application value and market prospect.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flow chart illustrating a parking lot vehicle positioning method according to the present invention.
Fig. 2 is a schematic diagram of a parking lot grid map in the parking lot map construction method according to the present invention.
Fig. 3 is a schematic diagram illustrating a parking lot landmark map in the parking lot vehicle positioning method according to the present invention.
Fig. 4 shows a schematic block diagram of the parking lot vehicle positioning system of the present invention.
Description of the element reference numerals
100 parking lot vehicle positioning system
110 first level positioning unit
120 second stage positioning unit
130 third-level positioning unit
S110 to S130
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
Please refer to fig. 1 to 4. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The embodiment aims to provide a parking lot vehicle positioning method, a parking lot vehicle positioning system, a mobile terminal and a storage medium, and is used for solving the technical problem that it is difficult to effectively position vehicles in a parking lot in the prior art. The principles and embodiments of the parking lot vehicle positioning method, system, mobile terminal and storage medium according to the present invention will be described in detail below, so that those skilled in the art can understand the parking lot vehicle positioning method, system, mobile terminal and storage medium according to the present invention without creative work.
The parking lot vehicle positioning method, the system, the mobile terminal and the storage medium provided by the embodiment are applied to indoor and outdoor single-layer or multi-layer parking lots.
The method and the system for positioning the vehicle in the parking lot provided by the embodiment adopt the environmental characteristics with time invariance as the map information, and can stably realize positioning. The embodiment adopts two kinds of information, one is ground information with certain semantic information, such as the top point of a parking space, the projection of a stand column on the ground and the like, and the positioning method has the advantage of higher positioning accuracy. Another is a grid map, where the value mapped by each grid represents whether the area is a drivable road, with the advantage of a large locatable scale. If only the first type of information is used, there is a large number of structured repetitions of this information in the parking lot. For each perceived state, there may be multiple matching locations in the map. If only the second information is used, high-precision positioning cannot be achieved depending on the detection precision of the sensor for the travelable road. Therefore, the invention adopts a 3-step positioning method to gradually obtain the initial position of positioning and improve the positioning precision.
As shown in fig. 1, an embodiment of the present invention provides a parking lot vehicle positioning method, which is used for positioning a vehicle step by using a motion posture of the vehicle, a vehicle-mounted map, an odometer for estimating a change in the motion posture of the vehicle, the grid map, and the landmark map when any vehicle is in a positioning mode, so that the vehicle plans a navigation path according to the vehicle-mounted map and a current vehicle positioning. In this embodiment, locating the vehicle refers to locating the position and the heading angle of the vehicle. That is, in the present embodiment, the positioning of the vehicle is the stepwise positioning. Specifically, as shown in fig. 1, the parking lot vehicle positioning method includes:
s110, a first-stage positioning process: when any vehicle is in a positioning mode, the position of a parking lot, the entrance of the parking lot, the position of the vehicle and the heading angle of the vehicle are determined through an on-board map and a GPS, and the positioning error of the vehicle is reduced to a first error range.
Specifically, the first level of location is to locate the vehicle at the road, exit, or entrance of the parking lot using GPS. An approximate position of the vehicle is acquired. Specifically, the first stage is to judge the entrance serial number in the known vehicle-mounted map according to the GPS coordinates and judge the initial vehicle heading angle according to the entrance road direction. The first level of positioning may narrow the vehicle positioning error accuracy to a first error range, where the first error range is less than 5 meters, for example.
S120, a second-stage positioning process: and further determining the position of the vehicle through the motion attitude of the vehicle and the detected travelable area by a grid map (shown in figure 2) and reducing the positioning error of the vehicle to a second error range with the value smaller than the first error range.
Specifically, in the present embodiment, the travelable region includes, but is not limited to, a straight road surface, an entrance road surface, and an intersection road surface. And the second-stage positioning further performs low-precision positioning on the vehicle through the grid map to reduce positioning errors, wherein the attribute of the area covered by each grid is stored in each grid in the grid map. For example, 1 represents a road surface and 0 represents a non-road surface. For example, the location of a road intersection or the like is located by a grid map. Typically the positioning error is less than 50 cm. Specifically, from the known grid map, in combination with the vehicle odometer, and the sensing result, the position (including the heading angle) with the highest probability is calculated within the range of the first step. The perception here specifically refers to the detection result of the vehicle body camera on the road travelable area, and the detection result is back projected to the ground and under the coordinate system of the parking lot map. The probability of the vehicle appearing at each position (including the heading angle) in the map is calculated through a corresponding positioning algorithm.
The second level of positioning may narrow the vehicle positioning error accuracy to a second error range, where the second error range is less than 0.5 meters, for example.
S130, a third-level positioning process: as shown in fig. 3, the vehicle position is further determined from the landmark information in the landmark map (shown in fig. 3) and the moving posture of the vehicle and the vehicle positioning error is narrowed down to a third error range having a value smaller than the second error range.
Specifically, in the present embodiment, the third-level positioning is further performed by using a landmark map to perform high-precision positioning, and the positioning error is usually less than 20 cm. Specifically, based on the known landmark map, the vehicle odometer, and the sensing result, the position (including the heading angle) where the probability is the greatest is calculated within the range of the second step. The sensing here is to detect the fixed point of the ground parking space, the upright post and other markers with accurate positions according to the camera image. It is also necessary to convert the coordinates of the landmark information into the coordinate system of the map.
The third level of positioning may narrow the vehicle positioning error accuracy to a third error range, where the third error range is less than 0.1 meters, for example.
The above available localization algorithms include, but are not limited to, the EKF (extended kalman filter) family, Grid filter, Particle filter. The details of the positioning algorithm are well-established techniques and are not described in detail herein.
In this embodiment, the motion attitude of the vehicle includes, but is not limited to, position information and a heading angle. The vehicle's motion attitude can be estimated by a odometer, which includes four wheel turn pulses and steering wheel angle, and the vehicle's relative transport attitude change can be estimated. Specifically, the motion attitude of the vehicle is acquired from a steering wheel angle, a wheel pulse, a speed parameter (e.g., acceleration, angular velocity) of a vehicle Inertial Measurement Unit (IMU), and a GPS. The position information of the vehicle is acquired by using a GPS, and the heading angle of the vehicle is acquired by using a steering wheel angle, wheel pulses and speed parameters (such as acceleration and angular speed) of an Inertial Measurement Unit (IMU) of the vehicle.
The heading angle can be calculated by an angular velocity meter, a vehicle four-wheel turning pulse and a steering wheel turning angle, a Visual SLAM, or the data sources can be fused. This allows a prediction of the position and heading angle. Since the acquisition of the heading angle is well known to those skilled in the art, it is not described herein in detail.
In the embodiment, in the positioning process, the position and the course angle are updated by combining the sensing result of the camera. Prediction and update are continuously iterative processes.
In this embodiment, the landmark information includes, but is not limited to, coordinates of a corner point of a parking space, a pillar edge in the parking lot, a pillar projection, and an edge of a bumper strip. The information of these landmarks on the map specifically refers to the coordinates (x, y) on the ground, and may also include the direction (x, y, theta) of the landmark. The extraction of the designated landmark information from the images around the vehicle is a relatively mature technology in the field of image processing, and is not described herein again.
Landmark information such as SIFT, FAST is selected based in part on the visual map. But these landmark information is subject to large environmental changes. The time invariance is not good. It cannot be stored in the map. In the positioning process of the embodiment, the selected landmark information comprises the fixed point of the parking space, the edge of the upright post, the projection of the upright post on the ground and the like.
The detection of the coordinates of the corner points of the parking space can refer to any detection means in the prior art, and is a relatively mature technology in the field. In this embodiment, the detection of the edge of the pillar uses the feature that most pillars of the parking lot have the anti-collision bars with yellow and black intervals, and extracts the feature that the pillars have the same 2D coordinates but have the same height and equal interval for detection.
An embodiment of the present invention provides a mobile terminal, including a processor and a memory, where the memory stores program instructions, and the processor executes the program instructions to implement the steps in the method as described above. The mobile terminal is, for example, a smart phone, a vehicle-mounted terminal, and the like.
Embodiments of the present invention provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps in the method as described above.
In order to implement the parking lot vehicle positioning method, as shown in fig. 4, the present embodiment further provides a parking lot vehicle positioning system 100, where the parking lot vehicle positioning system 100 is configured to, when any vehicle is in a positioning mode, utilize a motion posture of the vehicle, a vehicle-mounted map, a odometer for estimating a change in the motion posture of the vehicle, the grid map, and the landmark map to position the vehicle step by step, so that the vehicle plans a navigation path according to the vehicle-mounted map and a positioning of a current vehicle, and controls the vehicle to autonomously stop at an assigned parking space.
Specifically, as shown in fig. 4, the parking lot vehicle positioning system 100 includes: a first stage positioning unit 110, a second stage positioning unit 120, and a third stage positioning unit 130.
The parking lot vehicle positioning system 100 of the present embodiment is explained in detail below.
Specifically, in the embodiment, when any vehicle is in the positioning mode, the first-stage positioning unit 110 determines the location of the parking lot, the entrance of the parking lot, the location of the vehicle, and the heading angle of the vehicle through the on-board map and the GPS, and reduces the vehicle positioning error to the first error range.
Specifically, the first-stage positioning unit 110 uses GPS to position the vehicle at the road, exit, or entrance of the parking lot. An approximate position of the vehicle is acquired. Specifically, the first stage is to judge the entrance serial number in the known vehicle-mounted map according to the GPS coordinates and judge the preliminary course angle according to the entrance road direction.
The first stage positioning unit 110 may narrow the vehicle positioning error accuracy to a first error range, wherein the first error range is, for example, less than 5 meters.
Specifically, in the present embodiment, the second-stage positioning unit 120 further determines the vehicle position through a grid map (as shown in fig. 2), the motion posture of the vehicle and the detected travelable area, and reduces the vehicle positioning error to a second error range with a value smaller than the first error range.
In this embodiment, the second-level positioning unit 120 is connected to a parking lot map building system, and acquires the grid map from the parking lot map building system. The second-stage positioning unit 120 further performs low-precision positioning on the vehicle through the grid map, and reduces a positioning error, wherein each grid in the grid map stores an attribute of an area covered by the grid. For example, 1 represents a road surface and 0 represents a non-road surface. For example, the location of a road intersection or the like is located by a grid map. Typically the positioning error is less than 50 cm. Specifically, from the known grid map, in combination with the vehicle odometer, and the sensing result, the position (including the heading angle) with the highest probability is calculated within the range of the first step. The perception here specifically refers to the detection result of the vehicle body camera on the road travelable area, and the detection result is back projected to the ground and under the coordinate system of the parking lot map. The probability of the vehicle appearing at each position (including the heading angle) in the map is calculated through a corresponding positioning algorithm.
The second stage positioning unit 120 may reduce the vehicle positioning error accuracy to a second error range, wherein the second error range is less than 1 meter, for example.
Specifically, in the present embodiment, the third-level positioning unit 130 further determines the vehicle position according to the landmark information in the landmark map (as shown in fig. 3) and the moving posture of the vehicle, and reduces the vehicle positioning error to a third error range with a value smaller than the second error range.
In this embodiment, the third-level positioning unit 130 further performs high-precision positioning through a landmark map, and the positioning error is usually less than 20 cm. Specifically, based on the known landmark map, the vehicle odometer, and the sensing result, the position (including the heading angle) where the probability is the greatest is calculated within the range of the second step. The sensing here is to detect the fixed point of the ground parking space, the upright post and other markers with accurate positions according to the camera image. It is also necessary to convert the coordinates of the landmark information into the coordinate system of the map.
The tertiary positioning unit 130 may narrow the vehicle positioning error accuracy to a third error range, wherein the third error range is less than 0.1 meter, for example.
The above available localization algorithms include, but are not limited to, the EKF (extended kalman filter) family, Grid filter, Particle filter. The details of the positioning algorithm are well-established techniques and are not described in detail herein.
In this embodiment, the third-level positioning unit 130 is connected to a parking lot map building system, and acquires the landmark map from the parking lot map building system.
In this embodiment, the motion attitude of the vehicle includes position information and a heading angle. The vehicle's motion attitude can be estimated by a odometer, which includes four wheel turn pulses and steering wheel angle, and the vehicle's relative transport attitude change can be estimated. Specifically, the motion attitude of the vehicle is acquired from a steering wheel angle, a wheel pulse, a speed parameter (e.g., acceleration, angular velocity) of a vehicle Inertial Measurement Unit (IMU), and a GPS. The position information of the vehicle is acquired by using a GPS, and the heading angle of the vehicle is acquired by using a steering wheel angle, wheel pulses and speed parameters (such as acceleration and angular speed) of an Inertial Measurement Unit (IMU) of the vehicle.
The heading angle can be calculated by an angular velocity meter, a vehicle four-wheel turning pulse and a steering wheel turning angle, a Visual SLAM, or the data sources can be fused. This allows a prediction of the position and heading angle. Since the acquisition of the heading angle is well known to those skilled in the art, it is not described herein in detail.
In this embodiment, the position and the heading angle may be updated according to the result sensed by the camera. Prediction and update are continuously iterative processes.
In this embodiment, the landmark information includes, but is not limited to, coordinates of a corner point of a parking space, a pillar edge in the parking lot, a pillar projection, and an edge of a bumper strip. The information of these landmarks on the map specifically refers to the coordinates (x, y) on the ground, and may also include the direction (x, y, theta) of the landmark. The extraction of the designated landmark information from the images around the vehicle is a relatively mature technology in the field of image processing, and is not described herein again.
Landmark information such as SIFT, FAST is selected based in part on the visual map. But these landmark information is subject to large environmental changes. The time invariance is not good. It cannot be stored in the map. In the positioning process of the embodiment, the selected landmark information comprises the fixed point of the parking space, the edge of the upright post, the projection of the upright post on the ground and the like.
The detection of the coordinates of the corner points of the parking space can refer to any detection means in the prior art, and is a relatively mature technology in the field. In this embodiment, the vertical column edge detection uses landmark information in Visual SLAM, and uses the feature that most vertical columns of the parking lot have collision bars with yellow and black intervals to extract the characteristics of having the same 2D coordinates but equal height intervals for detection.
In summary, the embodiment of the invention positions the vehicle step by using the motion attitude of the vehicle, the vehicle-mounted map, the odometer for estimating the change of the motion attitude of the vehicle, the detected drivable area, the GPS, the grid map and the landmark map, thereby effectively improving the positioning accuracy, so that the vehicle plans the navigation path according to the positioning of the vehicle-mounted map pair and the current vehicle, and realizes autonomous parking. The invention provides an effective means for autonomous parking of vehicles in the parking lot, and has higher application value and market prospect. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the claims of the present invention.
Claims (10)
1. A parking lot vehicle positioning method is characterized in that: the parking lot vehicle positioning method comprises the following steps:
a first-stage positioning process: when any vehicle is in a positioning mode, determining the position of a parking lot, the entrance of the parking lot, the position of the vehicle and the heading angle of the vehicle through a vehicle-mounted map and a GPS, and reducing the positioning error of the vehicle to a first error range;
and a second-stage positioning process: further determining the position of the vehicle through the grid map, the motion attitude of the vehicle and the detected travelable area, and reducing the positioning error of the vehicle to a second error range with the numerical value smaller than the first error range;
and a third-stage positioning process: and further determining the position of the vehicle through landmark information in the landmark map and the motion posture of the vehicle, and reducing the vehicle positioning error to a third error range with the value smaller than the second error range.
2. The parking lot vehicle positioning method according to claim 1, characterized in that: the landmark information comprises the corner coordinates of the parking space, the edge of the upright post in the parking space, the projection of the upright post and the edge of the anti-collision strip.
3. The parking lot vehicle positioning method according to claim 1, characterized in that: the travelable areas include straight roads in the parking lot, parking lot exits/entrances, and intersections in the parking lot.
4. The parking lot vehicle positioning method according to claim 1, characterized in that: the motion attitude of the vehicle comprises position information and a course angle; and acquiring the motion attitude of the vehicle according to the steering wheel angle, the wheel pulse, the speed parameter of the vehicle inertia measuring unit and the GPS.
5. A parking lot vehicle positioning system characterized by: the parking lot vehicle positioning system includes:
the first-stage positioning unit determines the position of a parking lot, an entrance of the parking lot, the position of a vehicle and the course angle of the vehicle through a vehicle-mounted map and a GPS when any vehicle is in a positioning mode, and reduces the positioning error of the vehicle to a first error range;
the second-stage positioning unit is used for further determining the position of the vehicle through the grid map, the motion attitude of the vehicle and the detected travelable area, reducing the positioning error of the vehicle to a second error range with the numerical value smaller than the first error range, passing through the grid map, further determining the position of the vehicle through the motion attitude of the vehicle and the detected travelable area, and reducing the positioning error of the vehicle to a second error range with the numerical value smaller than the first error range;
and the third-level positioning unit is used for further determining the position of the vehicle and reducing the positioning error of the vehicle to a third error range with the numerical value smaller than the second error range through the landmark information in the landmark map and the motion attitude of the vehicle.
6. The parking lot vehicle positioning system according to claim 5, characterized in that: the landmark information comprises the corner coordinates of the parking space, the edge of the upright post in the parking space, the projection of the upright post and the edge of the anti-collision strip.
7. The parking lot vehicle positioning system according to claim 5, characterized in that: the travelable areas include straight roads in the parking lot, parking lot exits/entrances, and intersections in the parking lot.
8. The parking lot vehicle positioning system according to claim 5, characterized in that: the motion attitude of the vehicle comprises position information and a course angle; and acquiring the motion attitude of the vehicle according to the steering wheel angle, the wheel pulse, the speed parameter of the vehicle inertia measuring unit and the GPS.
9. A mobile terminal comprising a processor and a memory, the memory storing program instructions, characterized in that: the processor executes program instructions to implement the steps in the method of any one of claims 1 to 4.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the program when executed by a processor implementing the steps of the method as claimed in any one of claims 1 to 4.
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