+

CN101424535A - Vehicle positioning method and device - Google Patents

Vehicle positioning method and device Download PDF

Info

Publication number
CN101424535A
CN101424535A CNA2007101643889A CN200710164388A CN101424535A CN 101424535 A CN101424535 A CN 101424535A CN A2007101643889 A CNA2007101643889 A CN A2007101643889A CN 200710164388 A CN200710164388 A CN 200710164388A CN 101424535 A CN101424535 A CN 101424535A
Authority
CN
China
Prior art keywords
vehicle
road layer
road
height
layer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CNA2007101643889A
Other languages
Chinese (zh)
Other versions
CN101424535B (en
Inventor
叶嘉安
李清泉
乐阳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen University
Original Assignee
Wuhan University WHU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuhan University WHU filed Critical Wuhan University WHU
Priority to CN2007101643889A priority Critical patent/CN101424535B/en
Priority to PCT/CN2007/071186 priority patent/WO2008128408A1/en
Publication of CN101424535A publication Critical patent/CN101424535A/en
Application granted granted Critical
Publication of CN101424535B publication Critical patent/CN101424535B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01C21/30—Map- or contour-matching
    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

本发明涉及车辆定位导航领域，公开了一种车辆定位方法及装置，所述方法包括步骤：接收车辆驶入道路层时所采集的倾斜角度；比较所述倾斜角度与预先存储或计算得到的道路层起始坡度，或者通过倾斜角计算车辆所在高度；定位所述车辆的驶入道路层为道路层起始坡度/高度与所述倾斜角度/计算所在高度最接近的道路层。另外，本发明还公开相应的车辆定位的车辆定位装置。应用本发明提供的方法及装置，能够在车辆处于多层道路网络的情况下，识别出所述车辆的驶入道路层，实现对所述车辆的精确定位。

Figure 200710164388

The present invention relates to the field of vehicle positioning and navigation, and discloses a vehicle positioning method and device. The method includes the steps of: receiving an inclination angle collected when a vehicle enters a road layer; comparing the inclination angle with a pre-stored or calculated road The initial slope of the layer, or the height of the vehicle is calculated by the inclination angle; the entry road layer of the vehicle is positioned as the road layer whose initial slope/height of the road layer is closest to the inclination angle/calculated height. In addition, the invention also discloses a corresponding vehicle positioning device for vehicle positioning. By applying the method and device provided by the present invention, when the vehicle is in a multi-layer road network, it is possible to identify the road layer where the vehicle enters, and realize precise positioning of the vehicle.

Figure 200710164388

Description

A kind of vehicle positioning method and device
Technical field
The present invention relates to vehicle positioning navigation field, particularly a kind of vehicle positioning method and device.
Background technology
At present, the vehicle positioning and navigation system all is to be defined on the two dimensional surface for the location of vehicle, modal be GPS (Global Positioning System, GPS).The GPS terminal is installed in the vehicle that travels, and opens the GPS service, can realize location and navigation driving vehicle.
Gps system can satisfy on most road vehicle substantially to the demand of its location with navigation.But along with developing rapidly of urban transportation, the road form in city is complicated day by day, the overpass that for example passes through up and down, the tunnel under penetratingly, and this layer stereo transportation network is very general in the big city.If vehicle ' to overpass or in the subterranean tunnel, realizes location and navigation, the planimetric position at then not only described vehicle place is the necessary condition that described vehicle is positioned and navigates, and the path layer at same vehicle place also is crucial.As shown in Figure 1, vehicle 101, vehicle 102 is on the same two dimensional surface coordinate with vehicle 103, and still, they but are in the different aspects of overpass, and the path layer of being walked, the direction of travelling are also inequality.If can not correctly identify vehicle 101,102 among Fig. 1 and 103 path layers at places respectively, just can not make right judgement to the particular location of each car, also impossible certainly realization is to the correct navigation of described vehicle 101,102 and 103.
But, present gps system the error of the height of car locating information that can provide very big, normally the 2-3 of its plane positioning error is doubly.Even described height locating information is done the corresponding processing that reduces error, also can there be the error of 10-15 rice.In the Multi-layer road network in city, generally between 2-5 rice, average height difference is approximately 3 meters to the difference in height between the road of each layer.Therefore utilize the height positioning function of existing GPS can not satisfy in the existing Multi-layer road network, therefore also just can not be implemented in the Multi-layer road network of city accurate location driving vehicle to the concrete location requirement of driving vehicle.
Summary of the invention
Embodiment of the invention problem to be solved provides a kind of vehicle positioning method, Apparatus and system, can not carry out pinpoint problem to solve to vehicle in the Multi-layer road network of city.
For addressing the above problem, the embodiment of the invention provides a kind of vehicle positioning method, comprising:
Receive the angle of inclination of being gathered when vehicle sails path layer into;
The more described angle of inclination and the initial gradient of the path layer of storing or calculating in advance;
The path layer that sails into of locating described vehicle is the immediate path layer of the initial gradient of path layer and described angle of inclination.
Preferably, more described angle of inclination is specially with the difference of the path layer start angle of storing or calculating in advance:
Using formula | φ-θ | the described angle of inclination and the initial gradient of path layer of storing or calculating are in advance compared, wherein, θ is the initial gradient of the path layer storing or calculate in advance, and φ is the angle of inclination of the described vehicle gathered when vehicle '.
Preferably, it is characterized in that the path layer that sails into of locating described vehicle is that the immediate road of the initial gradient of path layer and described angle of inclination is specially:
Locate described vehicle and sail path layer into for according to formula | φ-θ | the pairing path layer of θ value of coincidence formula among the≤ε, wherein said ε trends towards 0.
Preferably, after execution received the angle of inclination of being gathered when vehicle sails road into, described method also comprised step:
Judge described vehicle sails to travel on the path layer whether reach predeterminable range or Preset Time into described, if then carry out described relatively angle step.
Preferably, described method also comprises step:
Gather described vehicle in the described angle of rolling away from of sailing path layer into;
If the described angle of rolling away from conforms to the described path layer termination gradient of sailing into of storing in advance or calculating, then described vehicle rolls described path layer away from.
The embodiment of the invention also provides another vehicle positioning method, comprising:
Receive angle of inclination and the described vehicle gathered when vehicle sails path layer into and enter the described distance of travelling behind the path layer of sailing into;
Reach the described path layer height that sails into of high computational of the initial path layer of vehicle of storing in advance or calculating according to described angle of inclination, operating range;
More described path layer height and the path layer height of storing or calculating in advance of sailing into;
The path layer that sails into of locating described vehicle is described path layer height and the described immediate path layer of path layer height of storing in advance or calculating of sailing into.
Preferably, calculate the described path layer height that sails into of height that reaches the initial path layer of vehicle of storing in advance or calculating and be specially according to described angle of inclination, operating range:
Using formula h=d sin (φ)+z calculates the described height that sails path layer into, wherein h is the described height that sails path layer into, d is that vehicle enters the described distance of travelling behind the path layer of sailing into, φ is the angle of inclination of the described vehicle gathered when vehicle ', z is the height of the initial path layer of vehicle ' storing in advance in the database or calculate.
Preferably, after execution received the angle of inclination of being gathered when vehicle sails road into, described method also comprised step:
Judge described vehicle sails to travel on the path layer whether reach predeterminable range or Preset Time into described, if then carry out described computed altitude step.
Correspondingly, the embodiment of the invention also provides a kind of vehicle locating device, comprising:
Receiving element is used to receive the angle of inclination of being gathered when vehicle sails path layer into;
Comparing unit is used for the more described angle of inclination and the initial gradient of path layer of storing or calculating in advance;
Positioning unit, the path layer that sails into that is used to locate described vehicle is the immediate path layer of the initial gradient of path layer and described angle of inclination.
Preferably, described device also comprises:
Judging unit is used to judge described vehicle sails to travel on the path layer whether reach predeterminable range into described, if notify described comparing unit to carry out relatively angle step.
Correspondingly, the embodiment of the invention also provides another vehicle locating device, comprising:
Receiving element is used to receive angle of inclination and the described vehicle gathered when vehicle sails path layer into and enters the described distance of travelling behind the path layer of sailing into;
Computing unit is used for the described height that sails path layer into of high computational according to the received angle of inclination of described receiving element, operating range and the initial path layer of vehicle storing in advance or calculate;
Comparing unit is used for more described path layer height and the path layer height of storing or calculating in advance of sailing into;
Positioning unit, the path layer that sails into that is used to locate described vehicle is described path layer height and the described immediate path layer of path layer height of storing in advance or calculating of sailing into.
Preferably, described device also comprises:
Judging unit is used to judge described vehicle sails to travel on the path layer whether reach predeterminable range into described, if notify described computing unit to carry out the high computational step.
Compared with prior art, the embodiment of the invention is in the two dimensional surface position of collection vehicle, the reference position angle of inclination of collection vehicle road that sails in the Multi-layer road network, compare with the initial gradient of the path layer of storing in advance or calculating, selecting the immediate path layer of described angle is the path layer that sails into of described vehicle; Perhaps calculate the height of vehicle operating on path layer according to described angle of inclination, compare with the path layer height of storing in advance or calculating, therefore selecting the immediate path layer of described height is the path layer that sails into of described vehicle, can be implemented in the Multi-layer road network the accurate location to described vehicle.
Description of drawings
Fig. 1 is that vehicle is in different path layer synoptic diagram in the stereo urban traffic network;
Fig. 2 is the method flow diagram of the embodiment of the invention;
Fig. 3 is the first preferred embodiment of the invention synoptic diagram;
Fig. 4 is the other method process flow diagram of the embodiment of the invention;
Fig. 5 is the second preferred embodiment of the invention synoptic diagram;
Fig. 6 is the structure drawing of device of the embodiment of the invention;
Fig. 7 is another structure drawing of device of the embodiment of the invention.
Embodiment
Below in conjunction with drawings and Examples the present invention is done detailed explanation.See also the method flow diagram that Figure 2 shows that the embodiment of the invention, comprise step:
Step S201: receive the angle of inclination of being gathered when vehicle sails path layer into;
Step S202: the more described angle of inclination and the initial gradient of the path layer of storing or calculating in advance;
Step S203: the path layer that sails into of locating described vehicle is the immediate path layer of the initial gradient of path layer and described angle of inclination.
Preferably, the embodiment of the invention adopts inclinometer to come the angle of inclination of measuring vehicle.Sail a certain path layer of multilevel traffic road into when vehicle after, described inclinometer collects the angle of inclination of vehicle, and judge described vehicle sails to travel on the path layer whether reach predeterminable range or Preset Time into described, if reach described predeterminable range or Preset Time, then the initial gradient of described angle of inclination with each path layer of storing in database or calculating compared, concrete implementation is as follows, and wherein each parameter is specially:
The θ---initial gradient of storage or the concrete a certain path layer that calculates in database;
The d---vehicle enters the distance of travelling behind a certain path layer;
φ--the angle of inclination of the described vehicle that-described inclinometer is measured.
If the initial gradient of not storing each path layer in advance in the database, and just stored the height of described each path layer, then enter the described path layer height of storing in the distance of travelling behind a certain path layer and the database, can calculate the initial gradient of described path layer according to the described vehicle that collects.
See also shown in Figure 3ly, described vehicle is the cruising state when the P1 point, and the corresponding road information of storing or calculating in database is (z1, θ 1 for x1, y1); When driving to the P2 point, described vehicle driving up, begin to enter another path layer, the road information that institute stores or calculates in the database is (x2, y2, z2 at this moment, θ 2), the angle of inclination that described vehicle measures according to inclinometer is φ, therefore according to the initial gradient of each path layer of storing in the database or calculating and the inclination of vehicle angle that records, using formula
| φ-θ |≤ε (wherein ε trends towards 0)
Calculate the initial gradient of path layer and the difference of described inclination of vehicle angle, after described vehicle ' reaches apart from d, if described formula | φ-θ | the path layer of difference minimum be the path layer that described vehicle sails into, if the absolute value of described difference is excessive, think that then this path layer is not the path layer that described vehicle sails into.By described angle comparison procedure, can realize the three-dimensional localization of described vehicle in the multilevel traffic network.After described vehicle crossed P3 ' point, the inclinometer of described vehicle returned the angle value before changing, and finishes this vehicle location process.
When described vehicle leaves described when sailing path layer into, can gather the angle of inclination of described vehicle equally, and compare with the described end gradient of sailing path layer into that is stored in the database storage or calculate, if described comparative result coincidence formula | φ '-θ ' |≤ε, judge that then described vehicle leaves the described path layer that sails into.Wherein, φ ' is described angle of inclination when sailing road into for the described vehicle that collects leaves, and θ ' is the storage or the end gradient of sailing path layer into that calculates, and ε trends towards 0.
In addition, the embodiment of the invention also provides another vehicle positioning method, sees also shown in Figure 4ly, specifically comprises step:
Step S401: receive angle of inclination and the described vehicle gathered when vehicle sails path layer into and enter the described distance of travelling behind the path layer of sailing into;
Step S402: the described path layer height that sails into of high computational that reaches the initial path layer of vehicle of storing in advance or calculating according to described angle of inclination, operating range;
Step S403: more described path layer height and the path layer height of storing or calculating in advance of sailing into;
Step S404: the path layer that sails into of locating described vehicle is described path layer height and the described immediate path layer of path layer height of storing in advance or calculating of sailing into.
In second preferred embodiment of the present invention, can sail the height that calculates gained behind the path layer into according to vehicle, compare with the height that is stored in each path layer of storing in the database or calculating, and positioned vehicle is in the minimum pairing path layer of described height difference, and its concrete implementation is as follows:
Sail a certain path layer of multilevel traffic road into when vehicle after, use the angle of inclination of inclinometer collection vehicle, and judge described vehicle sails to travel on the path layer whether reach predeterminable range or Preset Time into described, if reach described predeterminable range or Preset Time, obtain described vehicle and entering described operating range after sailing path layer into, using formula
h＝d?sin(φ)+z
Calculate described vehicle and sail the path layer height into, wherein,
H---is described to sail the height that path layer obtains according to described inclination of vehicle angle calculation into;
The height of the initial path layer of vehicle ' of storing in advance in the z---database or calculating;
The described vehicle of d---enters the described distance of travelling behind the path layer of sailing into;
The angle of inclination of φ--the described vehicle gathered during-described vehicle '.
If do not store the height of path layer in the database in advance, and the initial gradient of just having stored described path layer, then enter the initial gradient of described path layer of storing in the distance of travelling behind a certain path layer and the database, can calculate the height of described path layer according to the described vehicle that collects.
See also shown in Figure 5ly, described vehicle is the cruising state when the P4 point, and the corresponding road information of storing or calculating in database is (z4, θ 4 for x4, y4); When driving to the P5 point, described vehicle driving up, begin to enter another path layer, the road information that institute stores or calculates in the database is (x5, y5, z5 at this moment, θ 5), the angle of inclination that described vehicle measures according to inclinometer is φ, and according to a P5 between the P6 ' apart from d, described vehicle height z5 at initial path layer, calculate the described height that sails path layer into.Behind the described vehicle point of arrival P6 ', according to formula | h-z 6' | the height whether described height that sails path layer into of≤ε (wherein ε trends towards 0) checking meets database storing or calculate, wherein z 6' be the height of storage or the concrete a certain path layer that calculates in database.After described vehicle ' reaches apart from d, described formula | h-z 6' | the path layer of difference minimum be the path layer that described vehicle sails into, if the absolute value of described difference is excessive, think that then this path layer is not the path layer that described vehicle sails into.By described height comparison procedure, can realize the three-dimensional localization of described vehicle in the multilevel traffic network.
After determining the path layer that described vehicle sails into, then stop measurement to described vehicle ' distance; If described vehicle sails new path layer into, the angle of inclination of described inclinometer changes once more, remeasures the operating range of described vehicle, carries out the positioning step of described path layer.
Use the method that the embodiment of the invention provides, can be under vehicle sails situation in the Multi-layer road network into, sail the initial gradient or the described height that sails path layer into of path layer into according to vehicle, judge the concrete road that described vehicle sails into, thereby realize the accurate location of described vehicle in the Multi-layer road network.
Correspondingly, the embodiment of the invention also provides a kind of vehicle locating device, sees also shown in Figure 6ly, comprises receiving element 601, is used to receive the angle of inclination of being gathered when vehicle sails path layer into; Comparing unit 602 is used for the more described angle of inclination and the initial gradient of path layer of storing or calculating in advance; Positioning unit 603, the path layer that sails into that is used to locate described vehicle is the immediate path layer of the initial gradient of path layer and described angle of inclination.
In addition, described device also comprises judging unit 604, is used to judge described vehicle sails to travel on the path layer whether reach predeterminable range into described, if notify described comparing unit 602 to carry out relatively angle step.
Use device provided by the invention, be implemented in the Multi-layer road network and be the detailed process of the location of vehicle:
After described receiving element 601 receives the start angle of being gathered when vehicle sails road into, use described judging unit 604 to judge whether described vehicle reaches predeterminable range in described travel, if, then notify described comparing unit 602 to carry out the comparison of angle difference, if not, then abandon this to sailing the location of road into.
Described comparing unit 602 using formulas
| φ-θ |≤ε (wherein ε trends towards 0)
The difference of the start angle of more described collection and the road start angle storing or calculate in advance, the path layer initial gradient of θ wherein for storing or calculate in advance, φ is vehicle measured angle of inclination on the road that travels.
Described positioning unit 603 is according to described angle formula relatively, locate described vehicle sail into road for the road of described start angle difference minimum.
After determining the road that described vehicle sails into, then stop measurement to described vehicle ' distance or running time; If described vehicle sails new path layer into, angle measuring instrument changes once more, remeasures the operating range of described vehicle; Described vehicle locating device upgrades the road that sails into of described vehicle, is sent to described vehicle.
Correspondingly, the embodiment of the invention also provides second kind of vehicle locating device, sees also shown in Figure 7ly, comprises receiving element 701, is used to receive angle of inclination and the described vehicle gathered when vehicle sails path layer into and enters the described distance of travelling behind the path layer of sailing into; Computing unit 702 is used for the described height that sails path layer into of high computational according to the received angle of inclination of described receiving element, operating range and the initial path layer of vehicle storing in advance or calculate; Comparing unit 703 is used for more described path layer height and the path layer height of storing or calculating in advance of sailing into; Positioning unit 704, the path layer that sails into that is used to locate described vehicle is described path layer height and the described immediate path layer of path layer height of storing in advance or calculating of sailing into.
In addition, described device also comprises judging unit 705, is used to judge described vehicle sails to travel on the path layer whether reach predeterminable range into described, if notify described computing unit 702 to carry out the high computational step.
Use device provided by the invention, the detailed process that is implemented in the Multi-layer road network the location of vehicle is:
After described receiving element 701 receives the start angle of being gathered when vehicle sails road into, use described judging unit 705 to judge whether described vehicle reaches predeterminable range in described travel, if, then notify described comparing unit 702 to carry out the comparison of angle difference, if not, then abandon this to sailing the location of road into.
Described computing unit using formula
h＝d?sin(φ)+z
Calculate the height that described vehicle sails path layer into, wherein,
H---is described to sail the height that path layer calculates according to the angle of inclination of described vehicle into;
The height of the initial path layer of vehicle ' of storing in advance in the z---database or calculating;
The described vehicle of d---is in the described distance of travelling on the path layer of sailing into;
φ--the angle of inclination of the described vehicle that-described inclinometer is measured.
After calculate obtaining the described height that sails path layer into, described comparing unit 703 is according to formula | h-z ' | and≤ε (wherein ε trends towards 0), wherein z ' is the height of storage or the concrete a certain path layer that calculates in database, more describedly sail the height of path layer and storage or the path layer height that calculates in database into, and utilize the described vehicle in positioning unit 704 location sail into path layer for the road of described storage or the path layer height difference minimum that calculates.
Use the device that the embodiment of the invention provides, can be under vehicle sails situation in the Multi-layer road network into, by the reference position angle that vehicle sails road into, judge the concrete road that described vehicle sails into, thereby realize the accurate location of described vehicle in the Multi-layer road network.
The path layer of above-mentioned record comprises viaduct, sky way, subterranean tunnel, but is not limited only to this, can be the various forms in the multilevel traffic network.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (12)

1、一种车辆定位方法，其特征在于，包括：1. A vehicle positioning method, characterized in that, comprising: 接收车辆驶入道路层时所采集的倾斜角度；Receive the tilt angle collected when the vehicle enters the road layer; 比较所述倾斜角度与预先存储或计算得到的道路层起始坡度；Comparing the inclination angle with the pre-stored or calculated initial slope of the road layer; 定位所述车辆的驶入道路层为道路层起始坡度与所述倾斜角度最接近的道路层。The entry road layer of the vehicle is positioned as the road layer whose starting slope of the road layer is closest to the inclination angle. 2、根据权利要求1所述的方法，其特征在于，比较所述倾斜角度与预先存储或计算得到的道路层起始角度的差值具体为：2. The method according to claim 1, characterized in that comparing the difference between the inclination angle and the pre-stored or calculated road layer starting angle is specifically: 运用公式|φ-θ|对所述倾斜角度与预先存储或计算得到的道路层起始坡度进行比较，其中，θ为预先存储或计算得到的道路层的起始坡度，φ为在车辆行驶时采集的所述车辆的倾斜角度。Use the formula |φ-θ| to compare the inclination angle with the pre-stored or calculated initial slope of the road layer, where θ is the pre-stored or calculated initial slope of the road layer, and φ is the initial slope of the road layer when the vehicle is running The collected tilt angle of the vehicle. 3、根据权利要求2所述的方法，其特征在于，定位所述车辆的驶入道路层为道路层起始坡度与所述倾斜角度最接近的道路具体为：3. The method according to claim 2, wherein the road layer where the vehicle enters is positioned as the road whose initial slope of the road layer is closest to the inclination angle is specifically: 定位所述车辆驶入道路层为根据公式|φ-θ|≤ε中最符合公式的θ值所对应的道路层，其中所述ε趋向于0。Locating the vehicle entering the road layer is the road layer corresponding to the value of θ that best fits the formula according to the formula |φ-θ|≤ε, wherein the ε tends to 0. 4、根据权利要求1所述的方法，其特征在于，执行接收车辆驶入道路时所采集的倾斜角度后，所述方法还包括步骤：4. The method according to claim 1, characterized in that, after receiving the inclination angle collected when the vehicle enters the road, the method further comprises the steps of: 判断所述车辆在所述驶入道路层上行驶是否达到预设距离或预设时间，若是，则执行所述比较角度步骤。Judging whether the vehicle has traveled on the entering road layer for a preset distance or a preset time, and if so, executing the step of comparing angles. 5、根据权利要求1-4任一项所述的方法，其特征在于，所述方法还包括步骤：5. The method according to any one of claims 1-4, characterized in that the method further comprises the steps of: 采集所述车辆在所述驶入道路层的驶出角度；collecting the departure angle of the vehicle on the entering road layer; 若所述驶出角度与预先存储或计算得到的所述驶入道路层终止坡度相符，则所述车辆驶出所述道路层。If the exiting angle matches the pre-stored or calculated termination slope of the entering road layer, the vehicle exits the road layer. 6、一种车辆定位方法，其特征在于，包括：6. A vehicle positioning method, characterized in that it comprises: 接收车辆驶入道路层时所采集的倾斜角度及所述车辆进入所述驶入道路层后行驶的距离；Receiving the inclination angle collected when the vehicle enters the road layer and the distance traveled by the vehicle after entering the road layer; 根据所述倾斜角度、行驶距离及预先存储或计算得到的车辆起始道路层的高度计算所述驶入道路层高度；calculating the entry road level height according to the inclination angle, the travel distance and the pre-stored or calculated height of the initial road level of the vehicle; 比较所述驶入道路层高度与预先存储或计算得到的道路层高度；Comparing the entry road level height with the pre-stored or calculated road level height; 定位所述车辆的驶入道路层为所述驶入道路层高度与所述预先存储或计算得到的道路层高度最接近的道路层。The entering road layer of the vehicle is positioned as the road layer whose height of the entering road layer is closest to the pre-stored or calculated road layer height. 7、根据权利要求6所述的方法，其特征在于，根据所述倾斜角度、行驶距离及预先存储或计算得到的车辆起始道路层的高度计算所述驶入道路层高度具体为：7. The method according to claim 6, characterized in that the calculation of the entry road layer height according to the inclination angle, the travel distance and the pre-stored or calculated height of the initial road layer of the vehicle is specifically: 运用公式h＝dsin(φ)+z计算所述驶入道路层的高度，其中h为所述驶入道路层的高度，d为车辆进入所述驶入道路层后行驶的距离，φ为在车辆行驶时采集的所述车辆的倾斜角度，z为数据库中预先存储或计算得到的车辆行驶起始道路层的高度。Use the formula h=dsin(φ)+z to calculate the height of the entering road layer, wherein h is the height of the entering road layer, d is the distance traveled by the vehicle after entering the described entering road layer, and φ is the The inclination angle of the vehicle is collected when the vehicle is running, and z is the height of the road layer at which the vehicle starts to run, which is pre-stored or calculated in the database. 8、根据权利要求6所述的方法，其特征在于，执行接收车辆驶入道路时所采集的倾斜角度后，所述方法还包括步骤：8. The method according to claim 6, characterized in that, after receiving the inclination angle collected when the vehicle enters the road, the method further comprises the steps of: 判断所述车辆在所述驶入道路层上行驶是否达到预设距离或预设时间，若是，则执行所述计算高度步骤。Judging whether the vehicle has traveled on the entering road layer for a preset distance or a preset time, and if so, executing the step of calculating the height. 9、一种车辆定位装置，其特征在于，包括：9. A vehicle positioning device, characterized in that it comprises: 接收单元，用于接收车辆驶入道路层时所采集的倾斜角度；The receiving unit is used to receive the tilt angle collected when the vehicle enters the road layer; 比较单元，用于比较所述倾斜角度与预先存储或计算得到的道路层起始坡度；A comparison unit, configured to compare the inclination angle with the pre-stored or calculated initial slope of the road layer; 定位单元，用于定位所述车辆的驶入道路层为道路层起始坡度与所述倾斜角度最接近的道路层。The positioning unit is configured to locate the entry road layer of the vehicle as the road layer whose starting slope of the road layer is closest to the inclination angle. 10、根据权利要求9所述的装置，其特征在于，所述装置还包括：10. The device according to claim 9, further comprising: 判断单元，用于判断所述车辆在所述驶入道路层上行驶是否达到预设距离，若是，通知所述比较单元执行比较角度步骤。The judging unit is used to judge whether the vehicle travels on the entering road layer and reaches a preset distance, and if so, notifies the comparing unit to perform the step of comparing angles. 11、一种车辆定位装置，其特征在于，包括：11. A vehicle positioning device, characterized in that it comprises: 接收单元，用于接收车辆驶入道路层时所采集的倾斜角度及所述车辆进入所述驶入道路层后行驶的距离；The receiving unit is used to receive the tilt angle collected when the vehicle enters the road layer and the distance traveled by the vehicle after entering the road layer; 计算单元，用于根据所述接收单元所接收到的倾斜角度、行驶距离以及预先存储或计算得到的车辆起始道路层的高度计算所述驶入道路层的高度；a calculation unit, configured to calculate the height of the entering road layer according to the inclination angle received by the receiving unit, the travel distance, and the height of the starting road layer of the vehicle stored or calculated in advance; 比较单元，用于比较所述驶入道路层高度与预先存储或计算得到的道路层高度；A comparing unit, configured to compare the entering road layer height with the pre-stored or calculated road layer height; 定位单元，用于定位所述车辆的驶入道路层为所述驶入道路层高度与所述预先存储或计算得到的道路层高度最接近的道路层。A positioning unit, configured to locate the entry road layer of the vehicle as the road layer whose height of the entry road layer is closest to the pre-stored or calculated road layer height. 12、根据权利要求11所述的装置，其特征在于，所述装置还包括：12. The device according to claim 11, further comprising: 判断单元，用于判断所述车辆在所述驶入道路层上行驶是否达到预设距离，若是，通知所述计算单元执行高度计算步骤。The judging unit is used for judging whether the vehicle travels on the entering road layer and reaches a preset distance, and if so, notifies the computing unit to execute the height computing step.
CN2007101643889A 2007-10-30 2007-10-30 Vehicle positioning method and device in multi-layer road Expired - Fee Related CN101424535B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN2007101643889A CN101424535B (en) 2007-10-30 2007-10-30 Vehicle positioning method and device in multi-layer road
PCT/CN2007/071186 WO2008128408A1 (en) 2007-10-30 2007-12-06 A vehicle locating method in multilayer roads and a device using the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2007101643889A CN101424535B (en) 2007-10-30 2007-10-30 Vehicle positioning method and device in multi-layer road

Publications (2)

Publication Number Publication Date
CN101424535A true CN101424535A (en) 2009-05-06
CN101424535B CN101424535B (en) 2012-05-30

Family

ID=39875060

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2007101643889A Expired - Fee Related CN101424535B (en) 2007-10-30 2007-10-30 Vehicle positioning method and device in multi-layer road

Country Status (2)

Country Link
CN (1) CN101424535B (en)
WO (1) WO2008128408A1 (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101598549B (en) * 2009-07-06 2011-01-05 北京航空航天大学 Method for dynamic estimation of vehicle running gradient and relative height
CN101995261A (en) * 2009-08-10 2011-03-30 索尼公司 Method of determining vehicle route and navigation system
CN102052922A (en) * 2010-11-19 2011-05-11 中国人民解放军海军工程大学 Disturbing gravity compensation method for impacts of actual gravity field on inertial navigation system
CN103323013A (en) * 2012-03-19 2013-09-25 现代摩比斯株式会社 Appratus and method for judgment 3 dimension
CN104422449A (en) * 2013-08-27 2015-03-18 上海博泰悦臻电子设备制造有限公司 Vehicle navigation method and vehicle navigation device
CN106643757A (en) * 2015-10-30 2017-05-10 中国电信股份有限公司 Method and device for judging whether vehicle goes on or off ramp
CN109300304A (en) * 2017-07-24 2019-02-01 神州优车（平潭）电子商务有限公司 Method and apparatus for determining history road conditions
CN110044256A (en) * 2018-01-16 2019-07-23 爱信精机株式会社 From truck position estimation device
CN110412630A (en) * 2019-08-06 2019-11-05 深圳市元征科技股份有限公司 Vehicle positioning method and relevant apparatus in a kind of garage
CN110455300A (en) * 2019-09-03 2019-11-15 广州小鹏汽车科技有限公司 Air navigation aid, navigation display method, device, vehicle and machine readable media

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09101160A (en) * 1995-10-05 1997-04-15 Matsushita Electric Ind Co Ltd Travel position display device
JPH09189565A (en) * 1996-01-11 1997-07-22 Yazaki Corp Vehicle navigation system
NO305033B1 (en) * 1997-05-09 1999-03-22 Algipharma As Process for the preparation of uric acid blocks from alginate
US5878502A (en) * 1997-07-18 1999-03-09 Donahue, Jr.; Harold B. Apparatus and method for comparing a grade to a predetermined slope
JP2000074678A (en) * 1998-09-03 2000-03-14 Matsushita Electric Ind Co Ltd Travel position display device
JP3921095B2 (en) * 2001-08-02 2007-05-30 アルパイン株式会社 Navigation device
JP2005315851A (en) * 2004-03-31 2005-11-10 Denso Corp Car navigation apparatus
CN1702431A (en) * 2004-05-24 2005-11-30 上海大唐天易通信导航技术有限公司 Automobile autonomous navigation terminal and method thereof for judging whether the automobile is running on an elevated road
KR101047719B1 (en) * 2005-02-16 2011-07-08 엘지전자 주식회사 Method and device for driving route guidance of moving object in navigation system
CN1837753A (en) * 2005-03-22 2006-09-27 赵志弘 Map-matched automobile navigation method based on multiple information sources

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101598549B (en) * 2009-07-06 2011-01-05 北京航空航天大学 Method for dynamic estimation of vehicle running gradient and relative height
CN101995261A (en) * 2009-08-10 2011-03-30 索尼公司 Method of determining vehicle route and navigation system
CN101995261B (en) * 2009-08-10 2013-05-29 索尼公司 Method of determining vehicle route and navigation system
CN102052922A (en) * 2010-11-19 2011-05-11 中国人民解放军海军工程大学 Disturbing gravity compensation method for impacts of actual gravity field on inertial navigation system
CN103323013B (en) * 2012-03-19 2017-07-28 现代摩比斯株式会社 Three-dimensional locating device and method
KR20130106106A (en) * 2012-03-19 2013-09-27 현대모비스 주식회사 Appratus and method for judgment 3 dimension
CN103323013A (en) * 2012-03-19 2013-09-25 现代摩比斯株式会社 Appratus and method for judgment 3 dimension
CN104422449A (en) * 2013-08-27 2015-03-18 上海博泰悦臻电子设备制造有限公司 Vehicle navigation method and vehicle navigation device
CN104422449B (en) * 2013-08-27 2017-09-05 上海博泰悦臻电子设备制造有限公司 Method and device for vehicle navigation
CN106643757A (en) * 2015-10-30 2017-05-10 中国电信股份有限公司 Method and device for judging whether vehicle goes on or off ramp
CN106643757B (en) * 2015-10-30 2019-06-25 中国电信股份有限公司 Differentiate the method and apparatus of vehicle or more ring road
CN109300304A (en) * 2017-07-24 2019-02-01 神州优车（平潭）电子商务有限公司 Method and apparatus for determining history road conditions
CN110044256A (en) * 2018-01-16 2019-07-23 爱信精机株式会社 From truck position estimation device
CN110044256B (en) * 2018-01-16 2022-02-08 爱信精机株式会社 Self-parking position estimation device
CN110412630A (en) * 2019-08-06 2019-11-05 深圳市元征科技股份有限公司 Vehicle positioning method and relevant apparatus in a kind of garage
CN110455300A (en) * 2019-09-03 2019-11-15 广州小鹏汽车科技有限公司 Air navigation aid, navigation display method, device, vehicle and machine readable media
CN110455300B (en) * 2019-09-03 2021-02-19 广州小鹏汽车科技有限公司 Navigation method, navigation display device, vehicle and machine readable medium

Also Published As

Publication number Publication date
CN101424535B (en) 2012-05-30
WO2008128408A1 (en) 2008-10-30

Similar Documents

Publication Publication Date Title
CN101424535A (en) Vehicle positioning method and device
KR101920303B1 (en) Appratus and Method for judgment 3 dimension
JP3496479B2 (en) Road data maintenance system
US6597987B1 (en) Method for improving vehicle positioning in a navigation system
JP5152677B2 (en) Navigation device and navigation program
CN101819043B (en) Navigation device and navigation method
CN102147258B (en) Feedback-mechanism-based vehicle navigation method and system
JP4728095B2 (en) Navigation device
CN101907714A (en) GPS aided positioning system and method based on multi-sensor data fusion
US20100217524A1 (en) Navigation device, method, and program
EP2659228B1 (en) Generation of a seamless network of road or line segments in a digital map
CN107247275B (en) Bus-based urban GNSS vulnerability monitoring system and method
CA2765521C (en) Determining a position of a navigation device
JP6620379B2 (en) Travel distance calculation device, billing system, travel distance calculation method, program, and storage medium
WO2018072279A1 (en) Positioning method and mobile device
WO2010042172A1 (en) Probabilistic reverse geocoding
JP3753833B2 (en) Road linear automatic surveying equipment
JP2014122859A (en) Road information collection device and road information collection program
JP4652097B2 (en) Altitude calculation device and navigation device
CN104422459A (en) Method and device for determining location of vehicle as well as navigation method and navigation system
CN110398243A (en) A kind of vehicle positioning method and device
US20200182630A1 (en) Map generation system
JP3451636B2 (en) Speed sensor coefficient calculation device
JP2004504619A (en) Navigation device for position correction and method for position correction
JP2007322312A (en) Navigation system

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C41 Transfer of patent application or patent right or utility model
TR01 Transfer of patent right

Effective date of registration: 20151119

Address after: 518060 Nanhai Road, Guangdong, Shenzhen, No. 3688, No.

Patentee after: SHENZHEN University

Address before: 430072 Hubei Province, Wuhan city Wuchang District Luo Mountain Coffee

Patentee before: Wuhan University

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120530

CF01 Termination of patent right due to non-payment of annual fee
点击 这是indexloc提供的php浏览器服务，不要输入任何密码和下载