Granted Patent B2

US 12,339,126 · App. 17/877,625 · Granted Jun 24, 2025

Inventors: Chia-Cheng Wang (New Taipei, TW); Jyh-Cheng Chen (Hsinchu, TW)

Assignee: NATIONAL YANG MING CHIAO TUNG UNIVERSITY

G01C21/30G01C21/3667G06V20/58

Abstract

Claims (65)

1. A vehicular positioning method for positioning a vehicle that is running on a road, the road having a plurality of feature objects that have a same detectable feature and that are disposed along the road, said vehicular positioning method comprising steps of:

A) by an object detecting device that is set on the vehicle, detecting the feature objects the vehicle passes by as the vehicle runs on the road, so as to generate an object detection result;

B) by a vehicle positioning device that is set on the vehicle, counting a number of the feature objects the vehicle has passed by as the vehicle runs on the road based on the object detection result, and calculating an object-count-based travelling distance the vehicle has traveled on the road based on the number counted thereby, an object length of the feature objects, and spacing between adjacent two of the feature objects; and

C) by the vehicle positioning device, displaying an electronic map that shows the road and that indicates a position of the vehicle on the road based on the object-count-based travelling distance,

wherein the object detecting device is a rangefinder that emits range-finding signals outwardly with respect to the vehicle and that receives reflected range-finding signals to obtain the object detection result, where each of the reflected range-finding signals is one of the range-finding signals that is reflected by an object the vehicle passes by;

wherein the object detecting device counts the number of the feature objects the vehicle has passed by based on those of the reflected range-finding signals that are reflected by the feature objects;

wherein the road has multiple lanes, the object detecting device is set on top of the vehicle, and the road on the electronic map is provided with multiple virtual lanes that respectively correspond to the lanes of the road; and

wherein the vehicle positioning device records a number of the lanes of the road, and one of the lanes the feature objects are closest to;

said vehicular positioning method further comprising a step of:

by the vehicle positioning device, determining which one of the lanes the vehicle is running on based on incident angles of said those of the reflected range-finding signals, the number of the lanes of the road, and said one of the lanes the feature objects are closest to,

wherein, in step C), the vehicle positioning device displays the electronic map that shows the road with the virtual lanes and that indicates the position of the vehicle on one of the virtual lanes that corresponds to said one of the lanes the vehicle is running on.

2. The vehicular positioning method of claim 1 , further comprising steps of:

by the vehicle positioning device, calculating an adjustment travelling distance the vehicle has travelled between a most recent one and a next one of the feature objects based on time elapsed from the vehicle entering the road, the number of the feature objects the vehicle has passed by, and the spacing between adjacent two of the feature objects; and

by the vehicle positioning device, adding the adjustment travelling distance to the object-count-based travelling distance to obtain an adjusted travelling distance;

wherein, in step C), the vehicle positioning device displays the electronic map that shows the road and that indicates the position of the vehicle on the road based on the adjusted travelling distance.

3. The vehicular positioning method of claim 1 , wherein the object detecting device is a camera device that captures road images that contain the feature objects to generate the object detection result as the vehicle runs on the road, and the vehicle positioning device uses image recognition to identify the feature objects in the road images, so as to count the number of the feature objects the vehicle has passed by.

4. The vehicular positioning method of claim 3 , further comprising steps of:

by the vehicle positioning device, calculating an adjustment travelling distance the vehicle has travelled between a most recent one and a next one of the feature objects based on an object-to-object pixel number and a vehicle-to-object pixel number, where the object-to-object pixel number is a number of pixels that corresponds to the spacing between adjacent two of the feature objects in the road images, and the vehicle-to-object pixel number is a number of pixels that corresponds to a distance between the vehicle and the next one of the feature objects; and

by the vehicle positioning device, adding the adjustment travelling distance to the object-count-based travelling distance to obtain an adjusted travelling distance;

wherein, in step C), the vehicle positioning device displays the electronic map that shows the road and that indicates the position of the vehicle on the road based on the adjusted travelling distance.

5. The vehicular positioning method of claim 3 , wherein the vehicle positioning device uses image recognition to identify which one of the lanes the vehicle is running on.

6. A vehicular positioning method for positioning a vehicle that is running on a road, the road having a plurality of feature objects that have a same detectable feature and that are disposed along the road, said vehicular positioning method comprising steps of:

A) by an object detecting device that is set on the vehicle, detecting the feature objects the vehicle passes by as the vehicle runs on the road, so as to generate an object detection result;

B) by a vehicle positioning device that is set on the vehicle, counting a number of the feature objects the vehicle has passed by as the vehicle runs on the road based on the object detection result, and calculating an object-count-based travelling distance the vehicle has traveled on the road based on the number counted thereby, an object length of the feature objects, and spacing between adjacent two of the feature objects; and

C) by the vehicle positioning device, displaying an electronic map that shows the road and that indicates a position of the vehicle on the road based on the object-count-based travelling distance,

wherein the object detecting device is a rangefinder that emits range-finding signals outwardly with respect to the vehicle and that receives reflected range-finding signals to obtain the object detection result, where each of the reflected range-finding signals is one of the range-finding signals that is reflected by an object the vehicle passes by;

wherein the object detecting device counts the number of the feature objects the vehicle has passed by based on those of the reflected range-finding signals that are reflected by the feature objects;

wherein the road has multiple lanes, the object detecting device is set on a lateral surface of the vehicle, and the road on the electronic map is provided with multiple virtual lanes that respectively correspond to the lanes of the road; and

wherein the vehicle positioning device records a lane width of each of the lanes of the road, and one of the lanes the feature objects are closest to;

said vehicular positioning method further comprising a step of:

by the vehicle positioning device, calculating a vehicle-to-object distance between the vehicle and one of the feature objects based on one of the reflected range-finding signals that is reflected by said one of the feature objects; and

by the vehicle positioning device, determining which one of the lanes the vehicle is running on based on the lane width, said one of the lanes the feature objects are closest to, and the vehicle-to-object distance;

wherein, in step C), the vehicle positioning device displays the electronic map that shows the road with the virtual lanes and that indicates the position of the vehicle on one of the virtual lanes that corresponds to said one of the lanes the vehicle is running on.

7. A vehicular positioning system for positioning a vehicle that is running on a road, the road having a plurality of feature objects that have a same detectable feature and that are disposed along the road, said vehicular positioning system comprising:

an object detecting device that is to be set on the vehicle, and that is configured to detect the feature objects the vehicle passes by as the vehicle runs on the road, so as to generate an object detection result, wherein said object detecting device is one of a rangefinder and a camera device; and

a vehicle positioning device that is to be set on the vehicle, and that is electrically connected to said object detecting device, wherein said vehicle positioning device is a computerized device including a screen;

wherein said vehicle positioning device stores an electronic map related to the road, and is configured to count a number of the feature objects the vehicle has passed by as the vehicle runs on the road based on the object detection result, and to calculate an object-count-based travelling distance the vehicle has traveled on the road based on the number counted thereby, an object length of the feature objects, and spacing between adjacent two of the feature objects; and

wherein said vehicle positioning device is configured to display the electronic map that shows the road and that indicates a position of the vehicle on the road based on the object-count-based travelling distance;

wherein said object detecting device is a rangefinder that emits range-finding signals outwardly with respect to the vehicle and that receives reflected range-finding signals to obtain the object detection result, where each of the reflected range-finding signals is one of the range-finding signals that is reflected by an object the vehicle passes by;

wherein said object detecting device is configured to count the number of the feature objects the vehicle has passed by based on those of the reflected range-finding signals that are reflected by the feature objects;

wherein the road has multiple lanes, said object detecting device is set on top of the vehicle, and the road on the electronic map is provided with multiple virtual lanes that respectively correspond to the lanes of the road;

wherein said vehicle positioning device records a number of the lanes of the road, and one of the lanes the feature objects are closest to, and is configured to determine which one of the lanes the vehicle is running on based on incident angles of said those of the reflected range-finding signals, the number of the lanes of the road, and said one of the lanes the feature objects are closest to; and

wherein said vehicle positioning device displays the electronic map that shows the road with the virtual lanes and that indicates the position of the vehicle on one of the virtual lanes that corresponds to said one of the lanes the vehicle is running on.

8. The vehicular positioning system of claim 7 , wherein said vehicle positioning device is configured to calculate an adjustment travelling distance the vehicle has travelled between a most recent one and a next one of the feature objects based on time elapsed from the vehicle entering the road, the number of the feature objects the vehicle has passed by, and the spacing between adjacent two of the feature objects; and

wherein said vehicle positioning device is configured to add the adjustment travelling distance to the object-count-based travelling distance to obtain an adjusted travelling distance; and

wherein said vehicle positioning device is configured to display the electronic map that shows the road and that indicates the position of the vehicle on the road based on the adjusted travelling distance.

9. The vehicular positioning system of claim 7 , wherein said object detecting device is a camera device that is configured to capture road images that contain the feature objects to generate the object detection result when the vehicle is running on the road, and said vehicle positioning device is configured to use image recognition to identify the feature objects in the road images, so as to count the number of the feature objects the vehicle has passed by.

10. The vehicular positioning system of claim 9 , wherein said vehicle positioning device is configured to calculate an adjustment travelling distance the vehicle has travelled between a most recent one and a next one of the feature objects based on an object-to-object pixel number and a vehicle-to-object pixel number, where the object-to-object pixel number is a number of pixels that corresponds to the spacing between adjacent two of the feature objects in the road images, and the vehicle-to-object pixel number is a number of pixels that corresponds to a distance between the vehicle and the next one of the feature objects;

wherein said vehicle positioning device is configured to add the adjustment travelling distance to the object-count-based travelling distance to obtain an adjusted travelling distance; and

wherein said vehicle positioning device is configured to display the electronic map that shows the road and that indicates the position of the vehicle on the road based on the adjusted travelling distance.

11. The vehicular positioning system of claim 9 , wherein said vehicle positioning device is configured to use image recognition to identify which one of the lanes the vehicle is running on.

12. The vehicular positioning system of claim 9 , wherein said vehicle positioning device is a smartphone, and said camera device is a camera module integrated in said smartphone.

13. The vehicular positioning system of claim 9 , wherein said object detecting device is a driving recorder, and said vehicle positioning device is an electronic control unit (ECU) of the vehicle that is provided with a screen for display.

14. A vehicular positioning system for positioning a vehicle that is running on a road, the road having a plurality of feature objects that have a same detectable feature and that are disposed along the road, said vehicular positioning system comprising:

an object detecting device that is to be set on the vehicle, and that is configured to detect the feature objects the vehicle passes by as the vehicle runs on the road, so as to generate an object detection result, wherein said object detecting device is one of a rangefinder and a camera device; and

a vehicle positioning device that is to be set on the vehicle, and that is electrically connected to said object detecting device, wherein said vehicle positioning device is a computerized device including a screen;

wherein said vehicle positioning device stores an electronic map related to the road, and is configured to count a number of the feature objects the vehicle has passed by as the vehicle runs on the road based on the object detection result, and to calculate an object-count-based travelling distance the vehicle has traveled on the road based on the number counted thereby, an object length of the feature objects, and spacing between adjacent two of the feature objects;

wherein said vehicle positioning device is configured to display the electronic map that shows the road and that indicates a position of the vehicle on the road based on the object-count-based travelling distance;

wherein said object detecting device is a rangefinder that emits range-finding signals outwardly with respect to the vehicle and that receives reflected range-finding signals to obtain the object detection result, where each of the reflected range-finding signals is one of the range-finding signals that is reflected by an object the vehicle passes by;

wherein said object detecting device is configured to count the number of the feature objects the vehicle has passed by based on those of the reflected range-finding signals that are reflected by the feature objects;

wherein the road has multiple lanes, said object detecting device is set on a lateral surface of the vehicle, and the road on the electronic map is provided with multiple virtual lanes that respectively correspond to the lanes of the road;

wherein said vehicle positioning device records a lane width of each of the lanes of the road, and one of the lanes the feature objects are closest to, and is configured to calculate a vehicle-to-object distance between the vehicle and one of the feature objects based on one of the reflected range-finding signals that is reflected by said one of the feature objects, and to determine which one of the lanes the vehicle is running on based on the lane width, said one of the lanes the feature objects are closest to, and the vehicle-to-object distance; and

wherein said vehicle positioning device is configured to display the electronic map that shows the road with the virtual lanes and that indicates the position of the vehicle on one of the virtual lanes that corresponds to said one of the lanes the vehicle is running on.

15. A non-transitory computer-readable storage medium comprising program instructions that, when executed by a vehicle positioning device that is electrically connected to an object detecting device, cause said vehicle positioning device and said object detecting device to perform the vehicular positioning method of claim 1 .

16. A non-transitory computer-readable storage medium comprising program instructions that, when executed by a vehicle positioning device that is electrically connected to an object detecting device, cause said vehicle positioning device and said object detecting device to perform the vehicular positioning method of claim 6 .

Assignments (1)

Continuity (2)

References Cited (10)