Apparatus and method for vehicle positioning
First Claim
Patent Images
1. A vehicle positioning apparatus, comprising:
- a storage unit storing an image and a mapping information; and
a processing unit, coupled to the storage unit, identifying at least one first vehicle in the image, obtaining identification information of each of the first vehicles from the image, and transforming image coordinates of each of the first vehicles into positioning information according to the mapping information, wherein the image coordinates are coordinates of a corresponding first vehicle in the image, and the positioning information is a position of the corresponding first vehicle in real world,wherein the position information comprises a lane number and a milestone of a road where the corresponding first vehicle is located, the vehicle positioning apparatus communicates with another vehicle positioning apparatus having a processing unit, and the another vehicle positioning apparatus comprises;
a sensing unit, coupled to the processing unit of the another vehicle positioning apparatus, obtaining a relative position of at least one third vehicle surrounding a second vehicle in relative to the second vehicle, wherein for each of the first vehicles the processing unit of the another vehicle positioning apparatus calculates relative positions of the rest of the first vehicles in relative to the first vehicle, according to the positioning information of the first vehicles, and locates the first vehicle that makes the relative positions of the rest of the first vehicles most matching to the relative position of the third vehicles, and determines that the located first vehicle and the second vehicle are the same vehicle.
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Abstract
A method for vehicle positioning is provided, which includes the steps of identifying at least one vehicle in an image, obtaining identification information of each vehicle from the image, and transforming coordinates of each vehicle in the image into positioning information of the corresponding vehicle according to mapping information. The positioning information is a position of the corresponding vehicle in real world. Precise lane-level vehicle positioning can be achieved based on comparison with the identification information or the positioning information.
16 Citations
28 Claims
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1. A vehicle positioning apparatus, comprising:
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a storage unit storing an image and a mapping information; and a processing unit, coupled to the storage unit, identifying at least one first vehicle in the image, obtaining identification information of each of the first vehicles from the image, and transforming image coordinates of each of the first vehicles into positioning information according to the mapping information, wherein the image coordinates are coordinates of a corresponding first vehicle in the image, and the positioning information is a position of the corresponding first vehicle in real world, wherein the position information comprises a lane number and a milestone of a road where the corresponding first vehicle is located, the vehicle positioning apparatus communicates with another vehicle positioning apparatus having a processing unit, and the another vehicle positioning apparatus comprises; a sensing unit, coupled to the processing unit of the another vehicle positioning apparatus, obtaining a relative position of at least one third vehicle surrounding a second vehicle in relative to the second vehicle, wherein for each of the first vehicles the processing unit of the another vehicle positioning apparatus calculates relative positions of the rest of the first vehicles in relative to the first vehicle, according to the positioning information of the first vehicles, and locates the first vehicle that makes the relative positions of the rest of the first vehicles most matching to the relative position of the third vehicles, and determines that the located first vehicle and the second vehicle are the same vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A vehicle positioning apparatus, comprising:
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a storage unit, storing an identification information and a positioning information of at least one first vehicle; a processing unit, coupled to the storage unit, determining that one of the first vehicles and a second vehicle are the same vehicle according to the identification information and the positioning information of each of the first vehicles, and obtaining positioning information of the second vehicle based on the positioning information of the determined first vehicle, wherein the positioning information is a position of a corresponding first vehicle or the second vehicle in real world; and a sensing unit, coupled to the processing unit, and obtaining a relative position of at least one third vehicle surrounding the second vehicle in relative to the second vehicle, wherein for each of the first vehicles the processing unit calculates relative positions of the rest of the first vehicles in relative to the first vehicle, according to the positioning information of the first vehicles, and locates the first vehicle that makes the relative positions of the rest of the first vehicles most matching to the relative position of the third vehicles, and determines that the located first vehicle and the second vehicle are the same vehicle, wherein the position information comprises a lane number and a milestone of a road where the corresponding first vehicle is located. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method for vehicle positioning adopted by a vehicle positioning apparatus having a processing unit, the processing unit implementing the method comprising:
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identifying at least one first vehicle in an image; obtaining an identification information of each of the first vehicles from the image; and transforming image coordinates of each of the first vehicles into positioning information according to a mapping information, wherein the image coordinates are coordinates of a corresponding first vehicle in the image, and the positioning information is a position of the corresponding first vehicle in real world, wherein the position information comprises a lane number and a milestone of a road where the corresponding first vehicle is located, the vehicle positioning apparatus communicates with another vehicle positioning apparatus having a processing unit, the processing unit of the another vehicle positioning apparatus implements the method comprising; obtaining a relative position of at least one third vehicle surrounding a second vehicle in relative to the second vehicle; for each of the first vehicles, calculating relative positions of the rest of the first vehicles in relative to the first vehicle, according to the positioning information of the first vehicles; and locating the first vehicle that makes the relative positions of the rest of the first vehicles most matching to the relative position of the third vehicles, and determining that the located first vehicle and the second vehicle are the same vehicle. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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22. A method for vehicle positioning adopted by a vehicle positioning apparatus having a processing unit, the processing unit implementing the method comprising:
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according to identification information and positioning information of at least one first vehicle, determining that one of the first vehicles and a second vehicle are the same vehicle; and obtaining positioning information of the second vehicle based on the positioning information of the determined first vehicle, wherein the positioning information is a position of a corresponding first vehicle or the second vehicle in real world, wherein the position information comprises a lane number and a milestone of a road where the corresponding first vehicle is located, wherein the step of determining that one of the first vehicles and the second vehicle are the same vehicle comprises; obtaining a relative position of at least one third vehicle surrounding the second vehicle in relative to the second vehicle; for each of the first vehicles, calculating relative positions of the rest of the first vehicles in relative to the first vehicle, according to the positioning information of the first vehicles; and locating the first vehicle that makes the relative positions of the rest of the first vehicles most matching to the relative position of the third vehicles, and determining that the located first vehicle and the second vehicle are the same vehicle. - View Dependent Claims (23, 24, 25, 26, 27, 28)
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Specification