TWI411801B - A positioning method and a positioning system using the same thereof - Google Patents

Abstract

A positioning method, comprises: taking a instant image data of road surface, image-recognizing the instant image data of road surface to find out a plurality of imaging characteristic data of road surface, referring to a data of Global Positioning System to search a database storing a predetermined data of road surface so as to find out a predetermined image characteristic data, comparing the imaging characteristic data of road surface and the predetermined image characteristic data to create an assistant position data, and providing synthetic position data according to the data of Global Positioning System and the assistant position data. The invention also provides a positioning system using said positioning method, comprising: an image-taking unit, an image-recognizing unit, a database, a Global Positioning System, and a comparing unit.

Description

Positioning method and positioning system using same

The present invention relates to a positioning method and a system using the same, and in particular to a positioning method of a Global Positioning System (GPS) and a system using the same.

At present, GPS is widely used, and a large number of applications for it are driving navigation. In the driving, the user often uses the driving navigator to plan the driving route from the location to the destination. According to the design standards for the urban roads and ancillary works of the Ministry of the Interior, the width of each lane on the road is about 2.8 to 3.25 meters. However, the positioning accuracy of the global positioning system is only about 15 to 70 meters. Therefore, the actual position of the vehicle and the position displayed by the driving navigator often appear to be inaccurate. Sometimes the vehicle is clearly in the narrow lane, and the driving navigator shows that the vehicle is on the big road next door. In addition, the route plan of the driving navigator may have many situations to turn or get on the upper and lower interchanges and elevated roads. In these situations, the lane must be switched to the designated lane before the turn or the upper and lower interchanges can be made. And elevated roads. However, due to the lack of precision of the existing global positioning system, the user of the navigation navigator cannot switch lanes first, often causing the user to miss the ramp of the crossroads or missing the turn. What's more, it is also possible for the user to temporarily switch lanes when they are already very close to the intersection or interchange that has to make a turn, thereby increasing the risk of driving and even causing a driving accident.

In view of the above-mentioned shortcomings of the prior art, the present invention provides a positioning method and a positioning system using the same, which can improve the accuracy of the global positioning system, and can avoid route misses caused by failing to switch lanes first or accident.

According to an aspect of the present invention, a positioning method is provided, which includes: capturing real-time road image data, performing image recognition on the real-time road image data to find a plurality of road surface image feature data, and referring to the global positioning system data to query the road surface pre-presence Configuring a database of data to identify a predetermined image feature data, comparing the road image feature data and the preset image feature data to generate assisted positioning data, and providing comprehensive positioning based on the global positioning system data and the assisted positioning data data.

According to another aspect of the present invention, a positioning system is provided, including: an image capturing unit, an image recognition unit, a database, a global positioning system, and a comparison unit. The image capturing unit is configured to capture real-time road surface image data, and the image recognition unit is configured to perform image recognition on the real-time road surface image data to find a plurality of road surface image feature data, and the data library is used for storing Pavement preset data, the global positioning system is used to query global positioning system data. The comparison unit is configured to query the database with reference to the global positioning system data to find the preset image feature data, and compare the surface image feature data with the preset image feature data to generate the assisted positioning data, and according to the Global Positioning System data and this assisted location data provide comprehensive positioning data.

In order to make the above-mentioned contents of the present invention more comprehensible, a preferred embodiment will be described below, and in conjunction with the drawings, a detailed description is as follows:

The following is a detailed description of the embodiments, which are intended to be illustrative only and not to limit the scope of the invention. In addition, the drawings in the embodiments omit unnecessary elements to clearly show the technical features of the present invention.

First embodiment

Referring to FIG. 1, a block diagram of a positioning system 100 according to a first embodiment of the present invention is shown. The positioning system 100 includes an image capturing unit 101, an image recognition unit 102, a database 103, a global positioning system 104, a comparison unit 105, and a display unit 106.

The image capturing unit 101 is configured to capture real-time road image data. The image capturing unit 101 is, for example, a photographic lens having a photosensitive element, and can capture 3 to 30 frames per second, and can take 17 images per second. This screen can be used as instant road image data.

The image recognition unit 102 is connected to the image capturing unit 101. The image recognition unit 102 is configured to perform image recognition on the real-time road image data captured by the image capturing unit 101 to find the road surface image feature data. The road image feature data may be the shape and color of the road marking, such as white single solid line, white single dotted line, white double solid line, white double dotted line, yellow single solid line, yellow single dotted line, yellow double solid line, Yellow double dashed line, red solid line, and yellow or white single real single imaginary line and other marking lines.

The database 103 is configured to store a road preset data, which may be, for example, a map data used by the global positioning system and a road marking configuration. The route configuration refers to the number of lanes on the road surface of the road section, the direction of each lane, and the marking data of the type and color of the markings on the left and right sides of each lane.

The global positioning system 104 is coupled to the database 103. The global positioning system 104 is used to query global positioning system data. The global positioning system 104 uses the signals sent by the satellites to locate the location, and the global positioning system data can be known. The global positioning system data can be the location of the global positioning system 104.

The comparison unit 105 is connected to the database 103 and the global positioning system 104. The comparison unit 105 is configured to query the road surface preset data in the database with reference to the global positioning system data to find the preset image feature data, wherein the preset image feature data may be the location of the global positioning system 104. Preset information for the road in the area. The comparison unit 105 is further configured to compare the road image feature data and the preset image feature data to generate the assisted positioning data, and the assisted positioning data may be, for example, a lane position in the preset image feature data, or for example, The more detailed location of the preset image feature data. The comparison unit 105 further provides a comprehensive positioning data according to the global positioning system data and the assisted positioning data, and the comprehensive positioning data may be, for example, a detailed location where the map is located.

In addition, the positioning system 100 in this embodiment may further include a display unit 106 connected to the comparison unit 105 for displaying the integrated positioning data, and displaying the detailed location where the map is located. The display unit 106 can be, for example, a screen or a loudspeaker of a driving navigator.

The positioning method using the positioning system 100 in this embodiment will be described in detail below with a flowchart. Please refer to FIG. 2, which is a flow chart showing a positioning method using the positioning system 100 in the first embodiment. However, those skilled in the art to which the present invention pertains can understand that the positioning system 100 of the present embodiment is not limited to the application of the flowchart, and the order of execution of the steps is not limited to the flowchart.

First, in step 201, the image capturing unit 101 captures the instant road image data. In step 202, the image recognition unit 102 performs image recognition on the instant road image data to find the road image feature data such as the color and shape of the road marking.

In step 203, the global positioning system 104 cooperates with the database 103 to perform global positioning to generate global positioning system data, and the comparing unit 105 refers to the global positioning system data to query the database 103 storing the road preset data to find a preset. Image feature data.

In step 204, the comparison unit 105 compares the road surface image feature data with the preset image feature data to generate an assisted positioning data. In step 205, the comparison unit 105 provides comprehensive positioning data according to the global positioning system data and the assisted positioning data.

In addition, in addition, in step 206, the display unit 106 displays the integrated positioning data, and can display a map near the location and a precise location of the location, such as a specific lane in the road.

Since the integrated positioning data in this embodiment can have more precise accuracy than the conventional global positioning system data, it can avoid the risk of driving caused by the turning of the turn or the interchange or the rapid switching of the lane.

Second embodiment

Please refer to FIG. 3, which is a flow chart showing a positioning method using the positioning system 100 in the second embodiment. In this embodiment, the positioning method of this embodiment can be implemented, for example, when the road segment without the reticle is used in the first embodiment, or when the marking of the reticle is unknown. The positioning method of this embodiment can also be implemented when it is intended to indicate the direction of travel. Compared with the first embodiment, in the embodiment, in step 202, the image recognition of the real-time road image data is performed to find the plurality of road surface image feature data, and further includes steps 301-303.

First, in step 301, the image capturing unit 101 captures another real-time road image data. In step 302, the image recognition unit 102 successively identifies the first feature data and the second feature data of the same target from the instant road image data. For example, the first feature data is identified from the earlier real-time road image data, and the second feature data is identified from the later real-time road image data, for example, the previous first feature data is at a later time. Characteristic location.

In step 303, the comparison unit 105 compares the first feature data with the second feature data, thereby obtaining a moving direction as road image data. Next, in step 203, the comparison unit 105 refers to the global positioning system data to query the database storing the preset data of the road surface to find the preset image feature data.

In step 204, the comparing unit 105 compares the road image feature data of the moving direction with the preset image feature data to generate assisted positioning data. In step 205, the comparison unit 105 provides comprehensive positioning data according to the global positioning system data and the assisted positioning data.

Also included in step 206, display unit 106 displays the integrated location data, for example, to display a map near the location and the current direction of travel.

Third embodiment

Referring to FIG. 4, a block diagram of a positioning system 400 according to a third embodiment of the present invention is shown. The positioning system 400 is different from the positioning system 100 in the first embodiment in that the positioning system 400 further includes a speed detecting unit 407 and a control unit 408.

The speed detecting unit 407 is configured to detect the traveling speed. The speed detecting unit 407 can also be connected to a speed measuring instrument of the traveling tool, such as an instrument panel for displaying the speed of the automobile or a speed measuring device for measuring the rotational speed of the axle of the automobile axle.

The control unit 408 is connected to the speed detecting unit 407 and the image capturing unit 101. The control unit 408 is configured to control the speed at which the image capturing unit 101 captures the real-time road image data according to the traveling speed detected by the speed detecting unit 407.

The positioning method using the positioning system 400 in this embodiment will be described in detail below with a flowchart. Please refer to FIG. 5, which is a flow chart showing a positioning method using the positioning system 400 in the third embodiment. The positioning method in this embodiment is different from the positioning method in the first embodiment in that the positioning method in this embodiment further includes step 507 and step 508 before step 201.

However, those skilled in the art to which the present invention pertains can understand that the positioning system 400 of the present embodiment is not limited to the application of the flowchart, and the order of execution of the steps is not limited to this flowchart.

First, in step 507, the speed detecting unit 407 detects the traveling speed, such as the speed of the traveling vehicle. In step 508, control unit 408, The speed at which the image capturing unit 101 captures the instant road image data is changed according to the traveling speed. The control unit 408 speeds up the image capturing unit 101 to capture the instant road image data when the traveling speed is increased. In addition, the control unit 408 slows down the speed at which the image capturing unit 101 captures the instant road image data when the traveling speed is slowed down. Alternatively, the image capture unit 101 captures the instant road image data at a rate of M instant road image data per second, and the travel speed is N meters per second. The control unit 408 controls the number of real-time road image data captured by the real-time road image data per second to be the number of meters per second of the traveling speed, that is, M is controlled to be equal to N.

In this way, when the traveling speed is slow, the control unit 408 can control the image capturing unit 101 to capture less real-time road image data per unit time, thereby avoiding unnecessary waste. When the traveling speed is fast, the control unit 408 can control the image capturing unit 101 to capture more instant road image data per unit time, and can ensure the accuracy of the comparison result of the comparing unit 105.

Fourth embodiment

Referring to Figure 6, a block diagram of a positioning system 600 in accordance with a fourth embodiment of the present invention is shown. The positioning system 600 is different from the positioning system 100 in the first embodiment in that the positioning system 600 in this embodiment further includes a route planning unit 609.

The route planning unit 609 is connected to the comparison unit 105. The route planning unit 609 is used to plan a route to generate predetermined route information. For example, if the user wants to move from the land to the land B, the location of the land and the location of the land B are input into the route planning unit 609, and the route planning unit 609 plans the route information of the route including the route from the land to the land B. The scheduled route information further includes the suggested lanes. For example, in the route from the ground to the ground, there is an area that must be turned, and the planned route information to the lane that is easy to turn is planned nearby.

The comparison unit 105 is further configured to compare the integrated positioning data with the predetermined route data. When the integrated positioning data is different from the predetermined route data, a warning signal is generated. For example, when the driver approaches the area that has to turn, and does not switch to the lane that is easy to turn according to the planned route information, the comparison unit 105 generates a warning signal, and the display unit 106 can be used to display the warning signal.

The positioning method using the positioning system 600 in this embodiment will be described in detail below with a flowchart. Please refer to FIG. 7, which illustrates a flow chart of a positioning method using the positioning system 600 in the fourth embodiment. The positioning method of this embodiment is different from the positioning method of the first embodiment in that the positioning method of the embodiment additionally performs step 701 while performing steps 201 to 205, and further includes steps 702 to 704 after step 205.

However, those skilled in the art to which the present invention pertains can understand that the positioning system 600 of the present embodiment is not limited to the application of the flowchart, and the order of execution of the steps is not limited to this flowchart.

First, before step 201, step 701 is performed. In step 701, the route planning unit 609 plans the route to generate the predetermined route information. The predetermined route information further includes the suggested route and even the suggested lane.

After step 205, step 702 is performed. In step 702, the comparison unit 105 compares whether the integrated positioning data matches the predetermined route data. When the comparison of the integrated positioning data and the predetermined route data is different, then to step 704, the comparison unit 105 generates an alert signal, and the display unit 106 displays the alert signal, the integrated positioning data, and the predetermined route data, and returns to step 201. When the comparison comprehensive positioning data matches the predetermined route data, then to step 703, the display unit 106 displays the integrated positioning data and the predetermined route data.

In addition, referring to FIG. 8, steps 702, 703, and 704 may also be replaced with steps 801, 802, and 803 as shown in FIG. After steps 701 and 205, step 801 can be performed. In step 801, the display unit 106 displays the integrated positioning data and the predetermined route data. In step 802, the comparison unit 105 compares whether the integrated positioning data matches the predetermined route data. When the comparison of the integrated positioning data and the predetermined route data is different, then to step 803, the comparison unit 105 generates an alert signal, and the display unit 106 displays the alert signal, and returns to step 201.

In step 704 and step 803, the display unit 106 can include a display and a loudspeaker. When the display unit 106 displays the warning signal, it can be displayed on the display, or the loudspeaker can be alerted to notify the user that the location must be The location moves to a location that matches the scheduled route data.

In the positioning method and the positioning system disclosed in the above embodiments of the present invention, since the present invention can have more precise accuracy than the conventional global positioning system data in addition to the integrated positioning data, the situation of turning or squatting during the traveling is performed. Under the plan, the route that must be switched in advance can be planned when the route is planned, and the driver can be reminded in advance when the switch is near, and the danger of driving due to the loss of the turn or the interchange or the rapid switching of the lane can be avoided. Moreover, the invention can change the speed of image capturing according to the driving speed, and can avoid unnecessary waste caused when the vehicle speed is too slow, and avoid image recognition errors caused by the vehicle speed being too fast.

In conclusion, the present invention has been disclosed in the above preferred embodiments, and is not intended to limit the present invention. A person skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.

100, 400, 600. . . GPS

101. . . Image capture unit

102. . . Image recognition unit

103. . . database

104. . . Global Positioning System

105. . . Alignment unit

106. . . Display unit

201, 202, 203, 204, 205, 206. . . step

301, 302, 303. . . step

407. . . Speed detection unit

408. . . control unit

507, 508. . . step

609. . . Route planning unit

701, 702, 703, 704, 801, 802, 803. . . step

1 is a block diagram of a positioning system in accordance with a first embodiment of the present invention.

FIG. 2 is a flow chart showing a positioning method according to a first embodiment of the present invention.

FIG. 3 is a flow chart showing a positioning method according to a second embodiment of the present invention.

4 is a block diagram of a positioning system in accordance with a third embodiment of the present invention.

FIG. 5 is a flow chart showing a positioning method according to a third embodiment of the present invention.

Figure 6 is a block diagram showing a positioning system in accordance with a fourth embodiment of the present invention.

FIG. 7 is a flow chart showing a positioning method according to a fourth embodiment of the present invention.

FIG. 8 is another flow chart of the positioning method according to the fourth embodiment of the present invention.

201, 202, 203, 204, 205, 206. . . step

Claims (10)

A positioning method includes: capturing an instant road image data; performing image recognition on the instant road image data to find a plurality of road surface image feature data; and referring to a Global Positioning System (GPS) data query. a database of pavement preset data to identify a predetermined image feature data; comparing the pavement image feature data and the preset image feature data to generate an assisted positioning data; and according to the global positioning system data and the Assist in positioning data to provide a comprehensive positioning data. The positioning method according to claim 1, wherein the road image feature data includes a shape and a color of the road marking. The positioning method according to claim 1, further comprising displaying the integrated positioning data on a display unit. The positioning method of claim 1, wherein before extracting the instant road image data, the method further comprises: planning a route to generate a predetermined route data; and after providing the integrated positioning data, comparing the comprehensive positioning The data and the predetermined route information; and when the integrated positioning data is different from the predetermined route data, a warning signal is generated. For example, the positioning method described in claim 4 of the patent application further includes displaying a warning signal on the display unit. For example, the positioning method described in claim 4 of the patent application further includes that the display unit should respond to the warning signal to sound a warning sound. The positioning method of claim 1, wherein the image recognition of the real-time road image data to find the plurality of road surface image feature data further includes: capturing another real-time road image data from the The first feature data and the second feature data are respectively identified in the real-time road image data; and the first feature data and the second feature data are compared to obtain a moving direction as the road image feature data. The positioning method of claim 1, wherein before the capturing the real-time road image data, the method further comprises: detecting a traveling speed; and changing a speed of capturing the real-time road image data according to the traveling speed. The positioning method of claim 8, wherein when the traveling speed is increased, the speed of capturing the real-time road image data is accelerated, and when the traveling speed is slowed down, the real-time road image data is slowed down. Speed. The positioning method according to claim 8, wherein the number of pictures captured per second of the instant road image data is the number of meters per second of the traveling speed.