CN109348414B - Method and equipment for positioning lane where vehicle is located - Google Patents
Method and equipment for positioning lane where vehicle is located Download PDFInfo
- Publication number
- CN109348414B CN109348414B CN201811455129.6A CN201811455129A CN109348414B CN 109348414 B CN109348414 B CN 109348414B CN 201811455129 A CN201811455129 A CN 201811455129A CN 109348414 B CN109348414 B CN 109348414B
- Authority
- CN
- China
- Prior art keywords
- base station
- terminal
- vehicle
- positioning area
- lane
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000004891 communication Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims 3
- 238000010295 mobile communication Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000013459 approach Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The embodiment provides a method and equipment for positioning a lane where a vehicle is located, and relates to the field of mobile communication. When the vehicle runs on the expressway, the lane where the vehicle is located can be accurately positioned. The method comprises the following steps: receiving first information sent by a terminal, wherein the first information comprises a first reference signal; determining a first distance according to first information, wherein the first distance is the distance between the first base station and the terminal; acquiring a first positioning area and a second positioning area which are at a first distance from the lane where the vehicle is located and the first base station; acquiring a first frequency shift and second base station information, wherein the second base station is a base station which is adjacent to a first base station and communicates with a terminal before the first base station; and determining the lane of the vehicle where the terminal is located according to the first positioning area, the second positioning area, the first frequency shift and the second base station information.
Description
Technical Field
The invention relates to the field of mobile communication, in particular to a method and equipment for positioning a lane where a vehicle is located based on a cell merging base station.
Background
The appearance of the automobile facilitates the traveling of people. Along with the continuous popularization of automobiles, people have more and more requirements on the automobiles, and the significance of positioning the road in which the automobile runs in which direction in the field of safe running is great.
Although the current vehicle positioning method based on satellite positioning and high-precision maps is mature, the terminal mainly measures reference signals of a plurality of base stations to obtain different Arrival Time (TOA) or Arrival Time Difference (TDOA), and calculates the position information of the terminal by using a geometric relation estimation algorithm according to the measurement result and the coordinates of the base stations. The actual position estimation requires at least 3 base station position information to be able to complete. However, for highway scenarios, the operator base stations are usually located along the highway, with several kilometers of adjacent base stations, and the antenna facing in parallel with the highway to form a chain, in order to achieve continuous seamless coverage of the highway at minimum cost. In this case, the terminal can only communicate with the nearest base station, and it is difficult to receive the reference signals of 3 base stations at the same time, so that it is impossible to locate the road in which direction the vehicle is traveling by the basic TOA or TDOA method.
Disclosure of Invention
The embodiment of the invention provides a method and equipment for positioning a lane where a vehicle is located, and the lane where the vehicle is located can be accurately positioned when the vehicle runs on a highway.
In order to achieve the above object, an embodiment of the present invention provides a method for locating a lane in which a vehicle is located, where the method for locating the lane in which the vehicle is located includes:
receiving first information sent by a terminal, wherein the first information comprises a first reference signal;
determining a first distance according to first information, wherein the first distance is the distance between the first base station and the terminal;
acquiring a first positioning area and a second positioning area which are at a first distance from the lane where the vehicle is located and the first base station;
acquiring a first frequency shift and second base station information, wherein the second base station is a base station which is adjacent to a first base station and communicates with a terminal before the first base station;
and determining the lane of the vehicle where the terminal is located according to the first positioning area, the second positioning area, the first frequency shift and the second base station information.
Correspondingly, an embodiment of the present invention further provides a first base station, where the first base station includes:
a receiving unit, configured to receive first information sent by a terminal, where the first information includes a first reference signal;
a determining unit, configured to determine a first distance according to first information, where the first distance is a distance between the first base station and the terminal;
the acquiring unit is used for acquiring a first positioning area and a second positioning area, wherein the distance between the lane where the vehicle is located and the first base station is a first distance;
the acquiring unit is further configured to acquire a first frequency shift and second base station information, where the second base station is a base station that is adjacent to the first base station and communicates with the terminal before the first base station;
the determining unit is further configured to determine a lane of the vehicle where the terminal is located according to the first positioning region, the second positioning region, the first frequency shift, and the second base station information.
The embodiment of the invention provides a method and equipment for positioning a lane where a vehicle is located, which can determine a first distance according to first information by receiving the first information sent by a terminal, obtain a first frequency shift, second base station information, a first positioning area and a second positioning area, wherein the distance between the lane where the vehicle is located and the first base station is the first distance, and determine the lane where the vehicle is located according to the first positioning area, the second positioning area, the first frequency shift and the second base station information.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of the distribution of base stations along a highway according to an embodiment of the invention;
FIG. 2 is a flowchart of a method for locating a lane of a vehicle according to an embodiment of the present invention;
fig. 3 is a schematic diagram of determining a lane of a vehicle where a terminal is located according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another embodiment of the present invention for determining a lane of a vehicle in which a terminal is located;
fig. 5 is a functional block diagram of a first base station according to an embodiment of the present invention;
fig. 6 is a schematic functional block diagram of another first base station according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In a high-speed mobile communication system, the time for a mobile terminal to pass through a cell is short, which causes frequent cell reselection and handover and seriously affects the communication quality. The solution may be to enlarge the coverage of the cell by the cell merging method. The cell merging is to utilize optical fibers to concentrate baseband signals of remote equipment RRUs installed at different base station sites onto a baseband processing unit BBU, and the physical cells are merged into a cell through the BBU, so that the coverage area of the cell is enlarged. Fig. 1 shows a schematic diagram of base station distribution along a highway. In order to reduce the number of cell handovers, when configuring a base station of a highway, an operator generally adopts a cell merging technique to merge two cells of the same base station, which are going to and going to the highway, into one cell. For example, the cells to and from base station a in fig. 1 are merged into cell 1 toward the highway.
As shown in fig. 2, a method for locating a lane where a vehicle is located is shown, and the method is applied to a first base station, and is implemented by the following specific processes:
Specifically, when a vehicle where a terminal is located enters a cell of a first base station, the first base station receives first information sent by the terminal, where the first information includes a first reference signal.
It should be noted that, the first base station may prestore first location information and a high-precision map of a road surface within a coverage area of the first base station. The first location information includes location information of the first base station and location information of base stations adjacent to the first base station.
Specifically, the first information further includes a time when the terminal transmits the first reference signal. The first base station acquires the time for the first base station to receive the first reference signal; and determining a first distance according to the time of the terminal for sending the first reference signal, the time of the first base station for receiving the first reference signal and the propagation speed of the electromagnetic wave.
Specifically, the first base station may calculate the first distance d between the first base station and the terminal by using a formula d ═ t2-t1 ═ c. Where t2 may represent a time when the first base station receives the first reference signal, t1 may represent a time when the terminal transmits the first reference signal, and c may represent an electromagnetic wave propagation speed.
And 203, acquiring a first positioning area and a second positioning area, wherein the distance between the lane where the vehicle is located and the first base station is a first distance.
Specifically, the first distance is greater than the width of the road where the vehicle is located, so that a first positioning area and a second positioning area, which are located at a first distance from the first base station and are located on the lane where the vehicle is located, can be obtained by taking the first base station as a center of a circle and taking the first distance as a radius.
Specifically, the first base station may obtain a first frequency shift through detection, where the first frequency shift is a frequency shift of the first reference signal. The first base station can acquire second base station information in a mode of reporting by a terminal, and the second base station is a base station which is adjacent to the first base station and is communicated with the terminal before the first base station.
And step 205, determining the lane of the vehicle where the terminal is located according to the first positioning area, the second positioning area, the first frequency shift and the second base station information.
Further, the first base station may determine a third positioning area according to the first positioning area, the second positioning area, and the second base station information, where the third positioning area is an area where a vehicle in which the terminal is initially estimated to travel; and determining the lane of the vehicle where the terminal is located according to the preset relation between the first frequency shift and the legal driving direction of the road.
Specifically, the first base station may determine that, of the first positioning area and the second positioning area, an area closest to the second base station is a third positioning area. The first base station can prestore a preset relation between the first frequency shift and the legal driving direction of the road, and determine the lane of the vehicle where the terminal is located according to the preset relation.
It should be noted that the doppler shift formula is used
It can be known that, when the vehicle where the terminal is located approaches the first base station, an included angle between the moving direction of the vehicle where the terminal is located and the propagation direction of the first reference signal is less than 90 °, so that the value of the first frequency shift is a positive value; when the vehicle where the terminal is located is far away from the first base station, an included angle between the moving direction of the vehicle where the terminal is located and the propagation direction of the first reference signal is larger than 90 degrees, and therefore the value of the first frequency shift is a negative value. Wherein f isdMay represent a doppler shift, f may represent a carrier frequency of the first base station, c may represent a propagation speed of an electromagnetic wave, v may represent a moving speed of a vehicle in which the terminal is located,
it may represent the angle between the direction of movement of the vehicle in which the terminal is located and the direction of propagation of said first reference signal.
For example, as shown in fig. 3, the third positioning area is marked by a dotted line, and when the value of the first frequency shift is a positive value, the vehicle in which the terminal is located approaches the base station a, and therefore, the vehicle in which the terminal is located travels on the left lane in the third positioning area. When the value of the first frequency shift is a negative value, the vehicle in which the terminal is located is far away from the base station a, and therefore, the vehicle in which the terminal is located travels on a right lane in the third positioning region.
For example, as shown in fig. 4, the third positioning area is marked by a dotted line, and when the value of the first frequency shift is a positive value, the vehicle in which the terminal is located approaches the base station a, and therefore, the vehicle in which the terminal is located travels on a right lane in the third positioning area. When the value of the first frequency shift is a negative value, the vehicle in which the terminal is located is far away from the base station a, and therefore, the vehicle in which the terminal is located travels on a left lane in the third positioning area.
For example, the preset relationship between the first frequency shift and the legal driving direction of the road can be seen in table 1. Those skilled in the art can understand that the preset relationship between the first frequency shift and the legal driving direction of the road can also be set according to specific requirements, and the embodiment of the present invention is not particularly limited.
TABLE 1
| First base station | Second base station | First frequency shift value | Lane |
| Base station a | Base station b | Positive values | To the leftLane |
| Base station a | Base station b | Negative values | Right lane |
| Base station a | Base station c | Positive values | Right lane |
| Base station a | Base station c | Negative values | Left lane |
Further, determining the lane of the vehicle where the terminal is located according to the preset relationship between the first frequency shift and the legal driving direction of the road, including: if the first frequency shift is larger than 0, marking the first frequency shift as a first label; determining a lane of a vehicle where the terminal is located according to the preset relation between the first label and the legal driving direction of the road; or if the first frequency shift is less than 0, marking the first frequency shift as a second label; and determining the lane of the vehicle where the terminal is located according to the preset relation between the second label and the legal driving direction of the road.
For example, the preset relationship between the first tag and the legal driving direction of the road and the preset relationship between the second tag and the legal driving direction of the road can be seen in table 2. Those skilled in the art can understand that the preset relationship between the first tag and the legal driving direction of the road and the preset relationship between the second tag and the legal driving direction of the road can also be set according to specific requirements, and the embodiment of the present invention is not particularly limited.
TABLE 2
| First base station | Second base station | Tag of a first frequency shift | Lane |
| Base station a | Base station b | First label | Left lane |
| Base station a | Base station b | Second label | Right lane |
| Base station a | Base station c | First label | Right lane |
| Base station a | Base station c | Second label | Left lane |
The embodiment of the invention provides a method for positioning a lane where a vehicle is located, which includes the steps of determining a first distance according to first information by receiving the first information sent by a terminal, acquiring a first frequency shift, second base station information, a first positioning area and a second positioning area, wherein the distance between the lane where the vehicle is located and the first base station is the first distance, and determining the lane where the vehicle is located according to the first positioning area, the second positioning area, the first frequency shift and the second base station information.
As shown in fig. 5, a first base station 50 according to an embodiment of the present invention is shown, where the first base station 50 includes:
the receiving unit 51 is configured to receive first information sent by a terminal, where the first information includes a first reference signal.
A determining unit 52, configured to determine a first distance according to the first information, where the first distance is a distance between the first base station and the terminal.
The obtaining unit 53 is configured to obtain a first positioning area and a second positioning area, where a distance between the lane where the vehicle is located and the first base station is a first distance.
The obtaining unit 53 is further configured to obtain the first frequency shift and second base station information, where the second base station is a base station that is adjacent to the first base station and communicates with the terminal before the first base station.
The determining unit 52 is further configured to determine a lane of the vehicle where the terminal is located according to the first positioning region, the second positioning region, the first frequency shift, and the second base station information.
The embodiment of the invention provides a method for positioning a lane where a vehicle is located, which includes the steps of determining a first distance according to first information by receiving the first information sent by a terminal, acquiring a first frequency shift, second base station information, a first positioning area and a second positioning area, wherein the distance between the lane where the vehicle is located and the first base station is the first distance, and determining the lane where the vehicle is located according to the first positioning area, the second positioning area, the first frequency shift and the second base station information.
Further, the first information further includes a time when the terminal transmits the first reference signal.
The obtaining unit 53 is further configured to obtain a time when the first base station receives the first reference signal.
The determining unit 52 is specifically configured to determine the first distance according to the time when the terminal sends the first reference signal, the time when the first base station receives the first reference signal, and the electromagnetic wave propagation speed.
Further, the determining unit 52 is further specifically configured to:
and determining a third positioning area according to the first positioning area, the second positioning area and the second base station information, wherein the third positioning area is an area for preliminarily estimating the driving of the vehicle where the terminal is located.
And determining the lane of the vehicle where the terminal is located according to the preset relation between the first frequency shift and the legal driving direction of the road.
Further, as shown in fig. 6, it is shown that the first base station 50 further includes:
a marking unit 54, configured to mark the first frequency shift as a first label if the first frequency shift is greater than 0.
The determining unit 52 is further configured to determine a lane of the vehicle where the terminal is located according to the preset relationship between the first tag and the legal driving direction of the road.
The marking unit 54 is further configured to mark the first frequency shift as the second tag if the first frequency shift is smaller than 0.
The determining unit 52 is further configured to determine the lane of the vehicle where the terminal is located according to the preset relationship between the second tag and the legal driving direction of the road.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (6)
1. A method for locating a lane where a vehicle is located is applied to a first base station, and is characterized by comprising the following steps:
receiving first information sent by a terminal, wherein the first information comprises a first reference signal;
determining a first distance according to first information, wherein the first distance is the distance between the first base station and the terminal;
acquiring a first positioning area and a second positioning area which are at a first distance from the lane where the vehicle is located and the first base station;
acquiring a first frequency shift and second base station information, wherein the second base station is a base station which is adjacent to a first base station and communicates with a terminal before the first base station;
determining a lane of a vehicle where a terminal is located according to the first positioning area, the second positioning area, the first frequency shift and the second base station information, specifically including:
determining a third positioning area according to the first positioning area, the second positioning area and the second base station information, wherein the third positioning area is an area for preliminarily estimating the driving of the vehicle where the terminal is located; the first base station determines a third positioning area which is the area closest to the second base station in a first positioning area and a second positioning area;
determining a lane of a vehicle where the terminal is located according to a preset relation between the first frequency shift and the legal driving direction of the road;
if the first frequency shift is larger than 0, marking the first frequency shift as a first label;
determining a lane of a vehicle where the terminal is located according to the preset relation between the first label and the legal driving direction of the road; alternatively, the first and second electrodes may be,
if the first frequency shift is less than 0, marking the first frequency shift as a second label;
and determining the lane of the vehicle where the terminal is located according to the preset relation between the second label and the legal driving direction of the road.
2. The method of claim 1, wherein the first information further comprises a time when the terminal transmits the first reference signal, and wherein determining a first distance from the first information, the first distance being a distance between the first base station and the terminal, comprises:
acquiring the time for receiving the first reference signal by the first base station;
and determining a first distance according to the time of the terminal for sending the first reference signal, the time of the first base station for receiving the first reference signal and the propagation speed of the electromagnetic wave.
3. A first base station, comprising:
a receiving unit, configured to receive first information sent by a terminal, where the first information includes a first reference signal;
a determining unit, configured to determine a first distance according to first information, where the first distance is a distance between the first base station and the terminal;
the acquiring unit is used for acquiring a first positioning area and a second positioning area, wherein the distance between the lane where the vehicle is located and the first base station is a first distance;
the acquiring unit is further configured to acquire a first frequency shift and second base station information, where the second base station is a base station that is adjacent to the first base station and communicates with the terminal before the first base station;
the determining unit is further configured to determine a lane of a vehicle where the terminal is located according to the first positioning region, the second positioning region, the first frequency shift, and the second base station information, and specifically includes:
determining a third positioning area according to the first positioning area, the second positioning area and the second base station information, wherein the third positioning area is an area for preliminarily estimating the driving of the vehicle where the terminal is located; the first base station determines a third positioning area which is the area closest to the second base station in a first positioning area and a second positioning area;
determining a lane of a vehicle where the terminal is located according to a preset relation between the first frequency shift and the legal driving direction of the road;
the marking unit is used for marking the first frequency shift as a first label if the first frequency shift is larger than 0;
the determining unit is further used for determining the lane of the vehicle where the terminal is located according to the preset relation between the first label and the legal driving direction of the road;
the marking unit is further configured to mark the first frequency shift as a second tag if the first frequency shift is smaller than 0;
the determining unit is further used for determining the lane of the vehicle where the terminal is located according to the preset relation between the second label and the legal driving direction of the road.
4. The first base station of claim 3, wherein the first information further includes a time when the terminal transmitted the first reference signal,
the acquiring unit is further configured to acquire a time when the first base station receives the first reference signal;
the determining unit is specifically configured to determine the first distance according to a time when the terminal sends the first reference signal, a time when the first base station receives the first reference signal, and an electromagnetic wave propagation speed.
5. A base station, comprising: at least one processor, a communication interface, and a memory,
the communication interface, the memory, and the at least one processor are coupled; the base station communicates with other devices through the communication interface, the memory is used for storing a computer program, so that the computer program is executed by the at least one processor to realize the method for locating the lane of the vehicle according to any one of claims 1-2.
6. A computer storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method of locating a lane in which a vehicle is located according to any one of claims 1-2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811455129.6A CN109348414B (en) | 2018-11-30 | 2018-11-30 | Method and equipment for positioning lane where vehicle is located |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811455129.6A CN109348414B (en) | 2018-11-30 | 2018-11-30 | Method and equipment for positioning lane where vehicle is located |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109348414A CN109348414A (en) | 2019-02-15 |
| CN109348414B true CN109348414B (en) | 2021-03-12 |
Family
ID=65318954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811455129.6A Active CN109348414B (en) | 2018-11-30 | 2018-11-30 | Method and equipment for positioning lane where vehicle is located |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109348414B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979305B (en) * | 2019-03-18 | 2021-06-22 | 毫末智行科技有限公司 | Vehicle abnormal lane change control method, device and system |
| CN113218413B (en) * | 2021-05-12 | 2023-06-20 | 中国联合网络通信集团有限公司 | Method and system for positioning running vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1555495A (en) * | 2001-09-20 | 2004-12-15 | С | Method and device for locating vehicles by means of the doppler shift of mobile radio signals |
| CN101400133A (en) * | 2007-09-29 | 2009-04-01 | 鼎桥通信技术有限公司 | Wireless resource distributing method and system |
| CN102325304A (en) * | 2011-09-16 | 2012-01-18 | 中兴通讯股份有限公司 | Location information transmission method, location information transmission device and location information transmission system |
| CN102959428A (en) * | 2010-12-07 | 2013-03-06 | 卡波施交通公司 | Method and devices for determining the distance between radio beacon and vehicle device |
| CN103477376A (en) * | 2011-04-20 | 2013-12-25 | 日本电气株式会社 | Traffic situation monitoring system, method, and storage medium |
| CN103786729A (en) * | 2012-10-26 | 2014-05-14 | 现代自动车株式会社 | Lane recognition method and system |
| CN105319546A (en) * | 2015-04-02 | 2016-02-10 | 沈阳天择智能交通工程有限公司 | Multi-target radar and adopted digital signal processing method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013102683A1 (en) * | 2013-03-15 | 2014-09-18 | Jenoptik Robot Gmbh | Method for detecting traffic violations in a traffic light area by tailing with a radar device |
| CN105792135B (en) * | 2014-12-23 | 2019-04-19 | 中国移动通信集团公司 | A kind of method and device in positioning vehicle place lane |
| JP6846630B2 (en) * | 2015-02-16 | 2021-03-24 | パナソニックＩｐマネジメント株式会社 | Traveling lane detection device, traveling lane detection method, parallel running vehicle detection device and detection method of parallel traveling vehicles traveling in adjacent lanes |
| WO2017154131A1 (en) * | 2016-03-09 | 2017-09-14 | 三菱電機株式会社 | Positioning device and positioning method |
| US10248871B2 (en) * | 2016-03-24 | 2019-04-02 | Qualcomm Incorporated | Autonomous lane detection |
-
2018
- 2018-11-30 CN CN201811455129.6A patent/CN109348414B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1555495A (en) * | 2001-09-20 | 2004-12-15 | С | Method and device for locating vehicles by means of the doppler shift of mobile radio signals |
| CN101400133A (en) * | 2007-09-29 | 2009-04-01 | 鼎桥通信技术有限公司 | Wireless resource distributing method and system |
| CN102959428A (en) * | 2010-12-07 | 2013-03-06 | 卡波施交通公司 | Method and devices for determining the distance between radio beacon and vehicle device |
| CN103477376A (en) * | 2011-04-20 | 2013-12-25 | 日本电气株式会社 | Traffic situation monitoring system, method, and storage medium |
| CN102325304A (en) * | 2011-09-16 | 2012-01-18 | 中兴通讯股份有限公司 | Location information transmission method, location information transmission device and location information transmission system |
| CN103786729A (en) * | 2012-10-26 | 2014-05-14 | 现代自动车株式会社 | Lane recognition method and system |
| CN105319546A (en) * | 2015-04-02 | 2016-02-10 | 沈阳天择智能交通工程有限公司 | Multi-target radar and adopted digital signal processing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109348414A (en) | 2019-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110958630B (en) | Measuring method and device | |
| US7057557B2 (en) | Apparatus and method for estimating position of mobile communication terminal | |
| CN204442708U (en) | For the UWB base station of vehicle location | |
| CN103179658B (en) | Method for positioning by using wireless signals and positioning server | |
| US10725144B2 (en) | Transmitters-based localization on freeway | |
| CN112995899B (en) | Vehicle-road cooperative positioning method and device, vehicle-mounted positioning system and road side equipment | |
| CN103260237A (en) | Network positioning method and related device | |
| CN109348414B (en) | Method and equipment for positioning lane where vehicle is located | |
| JPH06500902A (en) | Location determination method in mobile radio system | |
| CN105425264A (en) | Vehicle tracking positioning method and system, positioning terminal, and monitoring terminal | |
| CN103037504A (en) | Method and device locating mobile station by adoption of observed time difference of arrival | |
| CN104748756A (en) | Method for measuring position of vehicle using cloud computing | |
| CN105866731A (en) | Vehicle location method and vehicle terminal device | |
| CN110045329A (en) | A kind of two base station two-dimensional location methods | |
| CN1555495A (en) | Method and device for locating vehicles by means of the doppler shift of mobile radio signals | |
| KR20090063549A (en) | A method for estimating the position of a mobile device and position estimating apparatus therefor | |
| JP7457165B2 (en) | Base station determination method, device, equipment and computer storage medium | |
| CN103699870A (en) | Ultrahigh radio frequency identifying-based car lane judging method and device | |
| KR101835432B1 (en) | Method and apparatus for train location measurement | |
| KR100518964B1 (en) | A mobile location estimation system and method using area division and virtual area | |
| Huang et al. | The use of Doppler effect in early warning system for vehicle collision at crossroad | |
| CN112040446B (en) | Positioning method and positioning system | |
| US5402348A (en) | Method and apparatus for determining the position of an object within lanes determined utilizing two independent techniques | |
| EP4286880A1 (en) | Positioning device, positioning server, and positioning method | |
| CN100433926C (en) | Method for accuretely positioning mobile station in double-arriving-time positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |