CN109932741B - Positioning method, positioning device, positioning system, computing device and storage medium - Google Patents

Abstract

The present disclosure provides a positioning method, a positioning device, a positioning system, a computing device, and a storage medium. In one aspect, a relative positional relationship of a first object with respect to a second object may be determined based on first satellite positioning information of the first object and second satellite positioning information of the second object; then, first position information of the first object is determined based on the second position information and the relative position relationship. On the other hand, the relative positional relationship of the two can also be determined by a photogrammetry method. In addition, after determining the position of the first object at a certain moment, the position change information of the first object can be tracked, and the position information of the first object is updated correspondingly in real time. Thus, highly accurate positioning can be achieved. Further, in the application field of vehicle navigation or automatic driving, for example, the lane where the vehicle is located can be accurately determined, so that the lane information can be updated in real time by tracking the change of the lane of the vehicle, thereby being beneficial to realizing vehicle navigation or automatic driving.

Description

Positioning method, positioning device, positioning system, computing device and storage medium

Technical Field

The invention relates to a positioning system and a positioning method.

Background

Autopilot has undoubtedly become one of the most attractive hot spot problems at the present time. Whether the vehicle enterprise, the Internet enterprise and the artificial intelligence related enterprise are traditional, the vehicle enterprise, the Internet enterprise and the artificial intelligence related enterprise are drooling in the huge market. The automatic driving involves a large number of sensor fusion, a large number of artificial intelligent algorithms are applied, the automatic driving is an engineering with extremely high complexity, and the requirements on technology are more strict because vehicles are tightly connected with personal safety.

While autopilot involves a number of technical difficulties, one of the most important underlying support technologies is positioning, and sensors such as cameras can only sense the relative relationship between the vehicle and the surrounding environment, in order to achieve autopilot, the vehicle must have accurate absolute positioning capabilities, in combination with high-precision maps, to achieve autopilot from one place to another.

In other fields, such as navigation, etc., a higher accuracy positioning capability is also required.

Existing positioning methods can be broadly divided into two main categories.

One is to locate by a locating device owned or carried by the locating object itself, such as a satellite locating device and/or an inertial navigation device. For example, the accurate positioning capability of some research schemes at the present stage is often provided by high-precision inertial navigation equipment of a high-precision satellite positioning receiver and a high-quality receiving antenna, and the equipment is quite expensive, so that mass production is difficult to realize in most cases.

Another type is to identify the indicated position as the position of the positioning object by identifying an identification (e.g., a graphic identification or a radio frequency tag, etc.) in the vicinity of the positioning object. Such positioning schemes are employed, for example, in some indoor positioning schemes. However, such a positioning scheme only roughly treats the identified position as the position of the positioning object, without considering that the two are only relatively close to each other and not in the same position. Thus, such positioning schemes also fail to provide high precision positioning meeting higher standard requirements.

Thus, there remains a need for a high precision positioning scheme.

Disclosure of Invention

The technical problem to be solved by the present disclosure is to provide a positioning scheme with high precision.

According to a first aspect of the present disclosure, there is provided a positioning method comprising: acquiring first satellite positioning information of a first object; acquiring second satellite positioning information of a second object; determining a relative positional relationship of the first object with respect to the second object based on the first satellite positioning information and the second satellite positioning information; and determining first position information of the first object based on the second position information of the second object and the relative position relationship.

Preferably, the first object is a moving object and the second object is a fixed object or a moving object with its own position information.

Preferably, one of the first object and the second object acquires information required for determining the relative positional relationship and/or the first positional information from the other object by wireless communication.

Preferably, the first object is a first vehicle, and the first position information is first lane information in which the first vehicle is located on a road.

Preferably, the second position information is second absolute position information of the second object, and the step of determining the first position information includes: determining first absolute position information of the first vehicle based on the second position information and the relative position relationship; and determining first lane information in which the first vehicle is located on the road based on the first absolute position information.

Preferably, the second object is a second vehicle, and the second position information is second road information on which the second vehicle is located on the road.

Preferably, the method further comprises: the second vehicle is positioned on the road to determine the second road information by means of the camera carried by the second vehicle and/or the camera carried by the first vehicle.

Preferably, the second object is a second vehicle located on both lanes of the road.

Preferably, the method further comprises: the first object searches for a second object existing around the first object; or the second object searches for the first object that exists around it.

According to a second aspect of the present disclosure, there is provided a positioning method comprising: the first object searches for the second object, wherein the first object can learn second position information of the second object from the second object; determining the relative position relation of the first object relative to the second object by means of a camera carried by the first object through a photogrammetry method; and determining first position information of the first object based on the second position information and the relative position relationship.

Preferably, the second object is provided with a graphic mark representing the second position information, and the first object searches for the graphic mark by means of its camera and recognizes the graphic mark to acquire the second position information; or the second object is provided with a coded light signal transmitter for transmitting a coded light signal coded based on the second position information, and the first object receives the coded light signal by means of a camera thereof and decodes the coded light signal to obtain the second position information; or the second object is provided with a wireless signal transmitter for transmitting a radio signal carrying the second position information, and the first object receives the radio signal through the wireless communication device and acquires the second position information from the radio signal.

Preferably, the first object is a first vehicle and the second object is one or more of a road sign, a red light.

According to a third aspect of the present disclosure, there is provided a positioning method comprising: determining first position information of a first object using a first positioning method; tracking position change information of the first object so as to update the first position information of the first object in real time through calculation; determining the credibility of the current first position information; and re-using the first positioning method to determine the first position information of the first object in case the confidence level is below a predetermined threshold.

Preferably, the first positioning method is a positioning method according to any of the preceding.

Preferably the first object is a first vehicle and the first location information is first lane information where the first vehicle is located on a road.

Preferably, the position change information of the first object is lane change information of the first vehicle.

Preferably, the position change information of the first object is tracked by means of a camera and/or a sensor carried by the first object and/or with reference to the movement information of the first object itself.

Preferably, the sensor comprises a motion sensor and/or an inertial sensor.

According to a fourth aspect of the present disclosure, there is provided a positioning system comprising a first object and a second object, the first position information of the first object being determined by the positioning method of the first to third aspects described above.

According to a fifth aspect of the present disclosure, there is provided a positioning apparatus including a positioning satellite signal receiver, a wireless communication module, and a control module, the positioning apparatus determining first position information of a first object as the first object or a second object by the positioning methods of the first to third aspects described above.

According to a sixth aspect of the present disclosure there is provided a computing device, preferably comprising: a processor; and a memory having executable code stored thereon, which when executed by the processor causes the processor to perform the positioning method of the first to third aspects described above.

According to a seventh aspect of the present disclosure, there is provided a non-transitory machine-readable storage medium having stored thereon executable code which, when executed by a processor of an electronic device, causes the processor to perform the positioning method of the first to third aspects described above.

According to an eighth aspect of the present disclosure, there is provided a positioning device comprising: the first acquisition device is used for acquiring first satellite positioning information of a first object; the second acquisition device is used for acquiring second satellite positioning information of a second object; a first determining device for determining a relative positional relationship of the first object with respect to the second object based on the first satellite positioning information and the second satellite positioning information; and second determining means for determining first position information of the first object based on the second position information of the second object and the relative position relationship.

According to a ninth aspect of the present disclosure, there is also provided a positioning device, including: first positioning means for determining first position information of a first object; position tracking means for tracking position change information of the first object so as to update the first position information of the first object in real time by estimation; and the credibility determining device is used for determining the credibility of the current first position information, wherein the first positioning device redetermines the first position information of the first object under the condition that the credibility is lower than a preset threshold value.

Thus, by employing the positioning scheme according to the present disclosure, high-precision positioning can be achieved.

Further, in the application field of vehicle navigation or automatic driving, for example, the lane where the vehicle is located can be accurately determined, so that the lane information can be updated in real time by tracking the change of the lane of the vehicle, thereby being beneficial to realizing vehicle navigation or automatic driving.

Drawings

The foregoing and other objects, features and advantages of the disclosure will be apparent from the following more particular descriptions of exemplary embodiments of the disclosure as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout exemplary embodiments of the disclosure.

Fig. 1 illustrates a terminal positioning system that may be used with the positioning scheme of the present disclosure, taking an in-vehicle positioning system as an example.

Fig. 2 shows a simplified schematic flow chart of one embodiment of a positioning method of the present disclosure.

Fig. 3 shows a schematic flow chart of the general idea of a positioning method according to an embodiment of the disclosure.

Fig. 4 shows a schematic flow chart of a positioning method according to one embodiment of the present disclosure.

Fig. 5 shows a scenario in which a base station is a reference object.

Fig. 6 shows a scenario in which other vehicles whose own positions have been determined are the reference objects.

Fig. 7 shows a scene in which other vehicles located in lanes on both sides are reference objects.

Fig. 8 is a view of a scene in which a relative positional relationship is determined by a photogrammetry method using a sign.

Fig. 9 illustrates a continuous positioning method according to one embodiment of the present disclosure with vehicle positioning as an example.

FIG. 10 illustrates a schematic block diagram of a computing device according to one embodiment of the present disclosure.

Fig. 11 shows a schematic block diagram of a positioning device according to one embodiment of the present disclosure.

Fig. 12 shows a schematic block diagram of a positioning device according to another embodiment of the present disclosure.

Detailed Description

Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The present disclosure provides a positioning scheme in which a relative positional relationship of an object to be positioned with respect to a reference object is determined by means of satellite positioning signals received by the object to be positioned and satellite positioning signals received by the reference object whose accurate position is known, thereby determining an accurate absolute position of the object to be positioned.

The satellite positioning signals can be influenced by various factors such as atmospheric delay, satellite orbit errors, clock errors and the like in the transmission process, so that the positioning errors reach several meters or even tens of meters.

Such errors are often unacceptable for some application scenarios requiring greater accuracy, such as navigation, autopilot, etc. In a navigation application scenario, when there are two roads in close proximity, it is possible to locate on the other road beside, thereby giving erroneous navigation guidance. In the case of automatic driving applications, however, positioning accuracy requirements at the lane level have been proposed, i.e. it is necessary to determine which lane of a multi-lane road the vehicle is traveling on. Obviously, the positioning by simply relying on satellite positioning signals of a GNSS satellite navigation system cannot meet the positioning precision requirements in the application scenes.

Such errors, however, exhibit a strong correlation for two satellite positioning signal receivers closely spaced (e.g., a few meters, tens of meters, or tens of meters), i.e., the direction and magnitude of the positioning error is comparable. Thus, the positioning error can be eliminated by subtracting the observables of the two satellite positioning signal receivers.

Hereinafter, description will be made taking, as an example, vehicle positioning in the field of automatic driving as a current hot spot. It should be appreciated that the techniques disclosed herein are equally applicable to other fields of application and locating objects.

This embodiment proposes a vehicle positioning system based on existing equipment on the current vehicle, which enables lane-level positioning. In a further embodiment, satellite positioning, inertial navigation positioning and camera assistance can be fused, and relative positioning technology and photogrammetry technology are introduced to continuously and accurately position the vehicle in real time into the correct lane line of the high-precision map.

[ PREPARATION ] A method for producing a polypeptide

And (3) GNSS: global Navigation Satellite System there are currently systems for global satellite navigation, such as GPS in the united states, GLONASS in russia, beidou in china, galileo in europe, etc. For simplicity of description, the GPS system will be described below as an example. It should be appreciated that any of the satellite navigation systems described above may be adapted for use with the aspects of the present disclosure.

Inertial navigation: inertial navigation, a form of dead reckoning, is a method of estimating the current position from the last position based on the speed and time of movement of an object measured by an inertial sensor.

Photogrammetry positioning: the image obtained by the optical camera or the digital camera is processed to obtain the position of the subject.

Relative positioning: the position of one point is known, the position of the other point is required, and the position of the other point can be calculated only by obtaining the relative position relation between the two points.

V2V: vehicle-to-Vehicle, a communication technology between vehicles, is a communication technology not limited to fixed base stations, providing direct end-to-end wireless communication for moving vehicles. I.e. by V2V communication technology, the vehicle terminals exchange wireless information directly with each other without forwarding through the base station. In general, it can be generalized to any type of communication between positioning objects.

V2I: a communication technology between a Vehicle and an infrastructure. In general, communication between any type of positioning object and the infrastructure can be generalized.

CAN bus: controller area network bus technology, such bus technology on board a car is used to monitor the data of the various sensors on board the car and to transmit these data in real time into the control unit.

[ terminal positioning System ]

Fig. 1 illustrates a terminal positioning system that may be used with the positioning scheme of the present disclosure, taking an in-vehicle positioning system as an example.

The vehicle-mounted positioning system can be combined with technologies such as relative positioning, photogrammetry, inertial navigation, computer vision and the like to realize a lane-level positioning system scheme.

Fig. 1 illustrates a number of modules that may be involved in some embodiments. It should be understood that not all of these modules are necessary to implement the disclosed techniques. For example, it will be apparent from a reading of the following detailed description of the embodiments that in some scenarios not all of these modules are involved in performing a positioning operation.

The positioning control module 100 performs data interaction with information acquisition equipment (such as various sensors) carried by the vehicle, and estimates the position, posture, action and the like of the user through the acquired data. In addition, communication between the Vehicle and the Vehicle (V2V, vehicle-To-Vehicle) is supported, in which positioning system such communication is established for relative positioning between the vehicles. Similarly, the Vehicle may interact with a communication base station (V2I) near the road, which is also for the purpose of relative positioning between the Vehicle and the base station.

As shown in fig. 1, a plurality of information acquisition devices, such as a GPS receiver 182, inertial navigation device 184, camera 186, CAN 188, etc., are respectively connected to the main control module 150 of the positioning control module 100 through the data interface 170.

The positioning control module 100 obtains GPS data (e.g., GPS observations, discussed below) from the GPS receiver 182, receives inertial sensor data from the inertial navigation device 184, obtains camera data from the camera 186, and obtains relevant vehicle motion information from the CAN 188.

The main control module 150 is connected with the integrated navigation module 110, the relative positioning module 120, the photogrammetry module 130, the lane change detection module 140, and the communication module 160, respectively, distributes various data (e.g., data acquired by the respective information acquisition devices and data from the communication device 160) to the corresponding modules, and can control the operations of these modules. The data herein may include data sensed by the vehicle's own sensors, as well as data received through the communication device 160 from a communication base station and data from other vehicles.

The integrated navigation module 110 receives inertial sensor data, GPS data, vehicle motion information from the CAN, etc. from the main control module 150, calculates the position, speed, posture, etc. of the vehicle itself, thereby realizing positioning, and may transmit the calculation result to the main control module 150 as input data of other modules. The calculated state information may be directly transmitted to other modules such as the photogrammetry module 130.

The relative positioning module 120 receives GPS data of the vehicle itself, GPS data of other vehicles, GPS data of a base station from the main control module 150, determines a relative positional relationship of the vehicle with other vehicles or the base station through relative positioning calculation of V2V or V2I, and may transmit relative positional relationship information to the main control module 150. The relative positional relationship information may also be used as input to other modules.

The relative positioning module 120 requires GPS data from the vehicle, as well as GPS data transmitted in real time by other vehicles or base stations, and accurate coordinates of other vehicles or base stations. The accurate coordinates of the own vehicle can be calculated through the relative positioning and the position difference between the own vehicle and other vehicles or base stations, and the accurate coordinates are returned to the control module. The result will also be the input data for the other modules.

In addition, when the accurate coordinates of the own vehicle are known, the position difference between the own vehicle and other vehicles can be calculated and sent to other vehicles so that the other vehicles can calculate the accurate coordinates of the own vehicle. Such a relative positioning scheme will be described in detail below.

The photogrammetry module 130 receives camera data from the main control module 150. According to the image photographed by the camera, the inertial sensor data and the state information (for example, gesture information) from the integrated navigation module 110 may be referred to as references, so as to perform absolute position calculation, obtain more accurate position information and gesture information, and send the calculation result (i.e., positioning information) to the main control module 150. These data will also be used as input data for other modules.

The lane change checking module 140 receives camera data, inertial sensor data, vehicle motion information from the CAN, etc. from the main control module 150, detects whether a lane change operation of the vehicle occurs by fusing the information, and determines what lane change operation of the vehicle occurs, including conventional lane switching, lane merging, lane separation, etc.

The communication module 160 is configured to perform V2V, V I communication related to positioning, and to communicate with other vehicles or base stations under the control of the main control module 150, and to send and/or receive positioning related information, so as to assist positioning by means of information of other vehicles or base stations, or assist positioning of other vehicles.

[ initial positioning method ]

The positioning method according to the present disclosure is described in detail below. The positioning method described in this section may perform initial positioning when the current position of the positioning object is completely unknown, or initial positioning that is reinitiated when the reliability of positioning information determined by a dead reckoning or the like scheme is reduced.

In order to achieve automatic driving (or high quality navigation), it is necessary to acquire lane information in which the vehicle is located continuously and in real time. One of the more important problems is how to quickly and accurately acquire the initial lane information of the vehicle and how to accurately detect the lane change information of the vehicle.

The existing satellite positioning of vehicles also often faces the problem of positioning drift, and the accuracy cannot reach the positioning of the lane level. To achieve lane-level positioning, the positioning accuracy often needs to reach sub-meter level, even decimeter level. This is not achievable in existing vehicle positioning technology.

As described above, in the current research of the autopilot technology, the positioning technology is often implemented by means of high-precision equipment. The high cost tends to be a major factor that prevents mass production of high precision equipment on an autonomous vehicle.

The technical scheme of the embodiment of the disclosure is based on the existing equipment and architecture of the vehicle, improves the accuracy and reliability through a software algorithm, achieves the purpose of accurately identifying the lane where the vehicle is located and the lane change condition in the travelling process, and achieves the lane-level positioning accuracy.

Still further, the present disclosure proposes to locate by means of a reference object (hereinafter referred to as "second object") located in the vicinity of the locating object (hereinafter referred to as "first object") and having a known accurate absolute position. The reference object may be stationary and thus its exact absolute position is also determined. Alternatively, the precise absolute position of the reference object may have been determined by other means. The reference object may be provided to the positioning object or a third party device (e.g., server) for positioning by various means (e.g., wireless communication or graphical identification) for positioning operations. Then, the relative positional relationship of the positioning object with respect to the reference object is determined, and the absolute position of the positioning object can be obtained in combination with the known accurate absolute position of the reference object.

Fig. 2 shows a simplified schematic flow chart of one embodiment of a positioning method of the present disclosure.

As shown in fig. 2, in step S10, the first object searches for a second object available nearby, or the second object searches for a first object located nearby.

In the case of the search, the first object and the second object communicate with each other or with a third party device for positioning calculation in step S20, so that the party performing the positioning calculation (which may be the first object, the second object, or the third party device, which may be referred to as "positioning calculation device" hereinafter) obtains a known accurate absolute position of the second object. It will be appreciated that in the case of a positioning calculation by the second object, this communication need not be made to send its own known accurate absolute position.

On the other hand, in step S30, the relative positional relationship of the first object with respect to the second object is determined. Step S30 may also be performed by any one of the first object, the second object, and the third party device. If the device performing step S30 is different from the positioning computing device performing the following step S40, the determined relative positional relationship may be transmitted to the positioning computing device. It should be understood that the order of step S20 and step S30 may be arbitrary or parallel.

Thus, in step S40, the positioning computing device may derive the absolute position of the first object based on the precise absolute position of the second object and the above-described relative positional relationship.

Two schemes for determining the relative positional relationship are presented in the embodiments described below in this disclosure. One is by means of differences in satellite positioning signals received by the reference object and the positioning object, respectively. The other is by means of photogrammetry. It should be appreciated that there are many other ways of determining the relative positional relationship of two objects that can be adapted to the teachings of the present disclosure. The schemes have advantages and disadvantages, and are respectively provided with a suitable scene, so that the schemes can be combined in a whole set of positioning schemes, and different schemes are adopted under different scenes.

Here, first, a description will be given of a technique of determining a relative positional relationship by means of a difference in satellite positioning signals.

As described above, for two satellite positioning signal receivers that are closely spaced (e.g., a few meters, tens of meters, or tens of meters), the errors in the satellite positioning signals received by the two receivers exhibit a strong correlation, i.e., the direction and magnitude of the positioning error are comparable. In other words, the positions indicated by the satellite positioning signals received by both are offset by substantially the same distance in substantially the same direction. Therefore, by subtracting the observed quantity of the two satellite positioning signal receivers, the offset error of the signals is eliminated, and the relatively accurate relative position relationship between the two receivers can be obtained. If the absolute position of one of the receivers is already known more accurately, the absolute position of the other receiver can be determined more accurately, thereby eliminating positioning errors.

Here, the distance between two satellite positioning signal receivers regarded as having error correlation (hereinafter referred to as "error correlation distance" for simplicity of description) may be set according to theoretical calculation or practical experience by considering factors such as the strength of a communication signal between the two, the error variation of a satellite positioning signal, and the like, and a specific positioning application field.

Alternatively, two objects that can mutually receive communication signals sent from opposite parties may be simply regarded as error-related objects, that is, there is an error correlation between satellite positioning signals received by satellite positioning signal receivers carried or equipped with the two objects. In this case, the error correlation distance can also be adjusted by setting the signal transmission intensity and the signal reception sensitivity.

In the field of autopilot applications, errors in received satellite positioning signals may be considered to be strongly correlated, for example in the lane-to-lane, inter-roadside base station distances of a few meters, tens of meters or tens of meters. In fact, larger distances are also possible.

As described above, by subtracting the observed amounts, a relatively accurate relative positional relationship between two objects (respectively carrying or equipped with satellite positioning signal receivers) within the error-related distance can be determined. However, to determine the exact position of one of the objects (hereinafter referred to as the "first object") it is necessary to know the exact position of the other object (hereinafter referred to as the "second object") for reference.

Here, the second object may be fixedly arranged, for example a positioning base station, may be arranged beside the road, the position of which is precisely known, see scenario one which will be described below.

The second object may also be in motion, for example a vehicle that is travelling on a road as the first object, but whose absolute position has been determined precisely, or at least its lane information (on which lane on a multi-lane road is travelling) has been determined precisely. For example, the second object may be an absolute position of itself that was previously precisely determined by means of a positioning base station, see scenario two, which will be described below. Alternatively, the first object obtains absolute position information of the second object by other means, for example, an image captured by a camera determines lane information thereof, see a third scenario, which will be described below. Alternatively, the second object may also determine its absolute position by any other means.

The positioning method by means of the difference of satellite positioning signals is described in detail below with reference to fig. 3.

Fig. 3 shows a schematic flow chart of the general idea of a positioning method according to an embodiment of the disclosure.

In step S200, the first object and the second object respectively receive GPS signals, and acquire GPS data, such as GPS observables. In fact, the GPS signal receivers of the first object and the second object continuously or periodically acquire GPS signals after being turned on, extract GPS data from the GPS signals, obtain GPS observables, and obtain their own rough positions (GPS positioning positions) based on the GPS observables.

In step S300, the relative positional relationship between the first object and the second object is determined by, for example, subtraction processing from the GPS data of each of the first object and the second object.

In step S400, the absolute position of the first object is determined based on the known absolute position of the second object and the relative positional relationship between the first object and the second object.

In some cases, considering the delay time required for the communication and calculation process and the time difference (if need to be considered) of the acquisition time of the GPS data of each of the two objects used in calculating the relative positional relationship, in step S500, the compensation may be performed by performing inertial navigation calculation based on the sensor data obtained by sensing the sensor of the inertial navigation device of the first object, and if necessary, taking into consideration the vehicle motion information obtained by the CAN monitoring and/or the camera data acquired by the camera (for example, to determine whether a lane change occurs), so as to obtain the current more accurate absolute position of the first object.

Throughout the positioning method, two operations are involved, namely step S300 and step S400. Both operations may be performed on a first object as a positioning object, may be performed on a second object as a reference object, or may be performed on the first object and the other on the second object. In some cases, one or both operations may also be performed by a third party other than the first object and the second object, such as a server. It should be understood that the transmission/reception relationship of the corresponding information may also vary depending on the object running the two operations.

The case where both operations of steps S300 and S400 are performed on the first object is described below with reference to fig. 4.

In step S310, the second object periodically transmits a signal.

In step S320, the communication module of the first object receives the signal transmitted by the second object. Here, the above-described error correlation distance is determined by the signal communication range. The ability to receive a signal from the other indicates that the distance between the two is within the error-related distance.

Here, the periodically transmitted signal of the second object may directly carry its own precise absolute position and its GPS data (GPS observance) or a position determined based on its GPS data. In this case, the first object does not need to request the related information from the second object, but can directly perform the operation.

The signal periodically transmitted by the second object may also simply indicate that it is an object that can be used as a positioning reference object, for example, carrying a pre-agreed flag. In this case, it is necessary to establish a communication connection between respective communication modules of the first object and the second object, the first object acquiring the accurate absolute position of the second object from the plurality of objects and its GPS data (GPS observables) or a position determined based on its GPS data.

In step S330, the first object determines a relative positional relationship between the first object and the second object based on the GPS data (GPS observables) of the first object itself or the position determined based on the GPS data thereof, and the GPS data (GPS observables) of the second object acquired from the second object or the position determined based on the GPS data thereof.

Then, in step S400, the first object may obtain an absolute position of the first object based on the accurate absolute position of the second object acquired from the second object and the relative positional relationship determined in step S330. Based on the absolute position, better navigation or autopilot services can be achieved.

On the other hand, in the case where the operation of step S300 is performed by the second object, the signal transmission/reception direction changes accordingly.

In step S310, the first object periodically transmits a signal.

After the second object receives the signal, the second object acquires GPS data (GPS observables) received by the first object or a position determined based on the GPS data thereof from the first object at step S320.

In step S330, the relative positional relationship between the first object and the second object is determined by the second object based on the GPS data (GPS observables) of the second object itself or the position determined based on the GPS data thereof, and the GPS data (GPS observables) of the first object acquired from the first object or the position determined based on the GPS data thereof.

In this case, if the operation of step S400 is continued by the second object, the second object transmits the determined absolute position of the first object to the first object after determining the absolute position of the first object.

If the operation of step S400 is performed by the first object, the second object transmits the relative positional relationship determined in step S330 to the first object.

Referring now to fig. 5-7, three scenarios of positioning schemes are described with the vehicle 10 as the first object (positioning object).

Scene one

Fig. 5 shows a scenario in which the base station 20 is the second object (reference object). In this case, the second object is fixed, its absolute position is determined and known.

As shown in fig. 5, when the vehicle 10 travels near the base station 20, the vehicle 10 establishes V2I communication with the base station 20. The vehicle 10 and the base station 20 are each provided with a GPS satellite signal receiver for receiving satellite signals from the GPS positioning satellites 50 in all weather.

In the case of the positioning operation by the base station 20, the vehicle 10 transmits the satellite signal (GPS observables) received by it to the base station 20 in real time. After the base station 20 receives the GPS observables transmitted from the vehicle 10, it calculates the difference value with the GPS observables received by the base station 20 itself, and performs relative positioning to calculate the accurate position difference, i.e., the relative position relationship, between the base station 20 and the vehicle 10. On the other hand, the accurate coordinates (absolute position) of the vehicle 10 can be obtained by knowing the accurate coordinates (absolute position) of the base station 20 and transmitted back to the vehicle 10.

In the case of a positioning operation by a computing module (e.g., a host controller or integrated navigation module) on the vehicle 10, the base station 20 transmits its received satellite signals (GPS observables) and the exact coordinates of the base station 20 to the vehicle 10 in real time. The calculation module on the vehicle 10 calculates the difference between the GPS observed quantity received by the vehicle 10 itself and the GPS observed quantity transmitted from the base station 20, and obtains the relative positional relationship between the two. Then, the exact coordinates, i.e., the absolute position, of the vehicle 10 are determined based on the exact coordinates of the base station 20 and the relative positional relationship.

The position change caused by the transmission delay during the process can be obtained through inertial navigation calculation in the delay time, so that the accurate positioning of the vehicle based on the V2I is completed.

Here, the base station 20 transmits its absolute position to the vehicle 10 through V2I communication. In fact, the vehicle 10 may also be made aware of its absolute position in various other ways, due to its fixed absolute position. For example, a graphic mark (e.g., bar code, two-dimensional code, three-dimensional code, etc.) or coded light signal emitter may be provided on the base station 20 to indicate its absolute position. The camera of the vehicle 10 scans the graphical indicia or receives the coded light signal, recognizes the graphical indicia or decodes the coded light signal to thereby learn the absolute position of the base station.

In addition, after determining the absolute position of the vehicle 10, the lane in which the vehicle 10 is currently located may be determined accordingly, for example, with reference to known road lane information.

Scene two

Fig. 6 shows a scenario in which the other vehicle 30 whose accurate absolute position has been determined is the second object (reference object). In this case, the absolute position of some other vehicle 30 has been determined and can be used as a reference object to determine the absolute position of the first object (vehicle 10).

In the absence of a base station in the vicinity of the vehicle 10, if there is an accurate positioning of the vehicle 30 from the surroundings of the vehicle (for example, the vehicle 30 has undergone accurate position calibration in a short time), the surrounding positioned vehicle 30 (second object) becomes a moving base station. The vehicle 10 and the vehicle 30 are each provided with a GPS satellite signal receiver for receiving satellite signals from the GPS positioning satellites 50 in all weather conditions.

The vehicle 10 to be positioned (first object) receives its GPS observables and own vehicle positions from the surrounding positioned vehicles 30 through V2V communication, and performs relative positioning according to the GPS observables received by itself and the GPS observables received from the vehicles 30, so as to obtain the relative positional relationship between the two vehicles, and further, in combination with the known positions of the surrounding positioned vehicles 30, obtain the accurate absolute position of the vehicle 10 to be positioned.

Alternatively, the received GPS observables may be transmitted to the surrounding located vehicles 30 by the vehicle to be located 10, the relative positional relationship may be determined by the surrounding located vehicles 30, and the absolute position of the vehicle to be located 10 may be further determined and transmitted to the vehicle to be located 10.

In addition, in the same scene, the position change caused by the transmission delay during signal transmission and calculation can also be compensated by inertial navigation calculation in the delay time.

Likewise, after determining the absolute position of the vehicle 10, the lane in which the vehicle 10 is currently located may be determined accordingly, for example, with reference to known road lane information.

Scene three

Fig. 7 shows a scenario in which the other vehicles 30, 30' located in both lanes are second objects (reference objects). Here, the two-sided lane means a leftmost (innermost, in the case of right-hand traffic) and rightmost (outermost, in the case of left-hand traffic) lane on a multi-lane road.

The accuracy of the vehicle to recognize the lanes on both sides through the camera is much higher than the accuracy of the vehicle to recognize a lane in the middle. This is in part because the sides of the road often have some reference, e.g., the innermost lane relative to the median barrier and the outermost lane relative to the off-road object, for ease of identification. The recognition accuracy of the lanes on the non-sides is low, and the recognition cannot be performed in some cases (particularly when the number of lanes is large). It should be appreciated that although a solution is described herein for relative positioning by means of other vehicles on both side lanes, it is equally possible to perform the same relative positioning of the vehicle to be positioned by means of other vehicles on non-both side lanes as the solution described below, in case it is possible to identify non-both side lanes.

In the case where there is no base station around the vehicle to be positioned, nor is there any vehicle having accurate positioning, if there is a vehicle 30, 30 'located in the two-sided lane, the vehicle 30, 30' on the two-sided lane may be taken as the second object. The vehicles 10 and 10 'and the vehicles 30 and 30' are each provided with a GPS satellite signal receiver for receiving satellite signals from the GPS positioning satellites 50 in all weather.

Although the exact absolute position of the vehicle 30, 30' on both lanes is not known, at least the lane on which it is located on the road can be determined. Based on its lane information, at least the lane information in which the vehicle 10, 10' to be positioned is located can be determined.

It is possible to determine which of the two lanes the vehicle 30, 30' is located in by itself, for example, by camera image analysis. Alternatively, the vehicles 30, 30 'located on both lanes in the camera view range can be found and determined by the vehicles 10, 10' to be positioned through camera image analysis.

The vehicle on the two-sided lane can send the GPS observations received by it and its lane information to the surrounding vehicles, i.e. the vehicles 10, 10' to be located. The vehicles 10 and 10 'to be positioned are relatively positioned according to the GPS observed quantity received by the vehicles and the GPS observed quantity received from the vehicles 30 and 30' on the lanes at the two sides, so that the relative position relation between the vehicles and the GPS observed quantity is obtained. The lane in which the vehicle 10, 10 'to be positioned is located can then be deduced, if necessary, for example, by referring to known road lane information, based on the lanes in which the vehicles 30, 30' on the two-sided lanes are actually located (leftmost (innermost) and rightmost (outermost)).

Likewise, the above-described positioning calculation can also be performed by the vehicles 30, 30 'of the two-sided lanes and then transmitted to the vehicles 10, 10' to be positioned. Moreover, position changes caused by transmission delays during signal transmission and computation can also be compensated for by inertial navigation within the delay time.

The following describes a scheme for determining the relative positional relationship by means of a photogrammetry method.

In the third scenario described above, the lane in which the vehicle 30, 30' is located on the lane on both sides is determined, to some extent, its absolute position is determined by camera image analysis, for example, based on the relative positional relationship of the vehicle and the road-side references.

In fact, by using the camera image, the relative positional relationship can also be determined by a photogrammetry method. For example, a relative positional relationship between the subject and the camera may be determined. Determining the relative positional relationship between the two by photogrammetry is already a mature technique and is not described in detail herein.

At this time, the absolute position of the positioning object (first object) can be determined by determining the absolute position of only one reference object (second object).

Here, in the case where the first object is a vehicle to be positioned, the second object may also be a base station, other vehicles whose exact absolute positions have been determined, or vehicles located on lanes on both sides of the road, as in the above scenes one to three. The second object sends its known absolute position to the first object via wireless communication V2I or V2V.

Alternatively, the second object may be a fixed road sign, red light, etc., on which graphic indicia (e.g., bar code, two-dimensional code, three-dimensional code, etc.) or coded light signal emitters are provided to indicate its absolute position. The camera of the vehicle scans the graphic mark or receives the coded light signal, recognizes the graphic mark or decodes the coded light signal, thereby knowing the absolute position of the second object.

In addition, it should be appreciated that while two vehicles 30 and 30' are shown in fig. 7, each positioned in a two-sided lane, only one of the vehicles may be required in the lane determination process. Alternatively, the absolute position information (i.e., lane information) and the GPS observations of the vehicles on the plurality of two-sided lanes may be integrated to obtain a more accurate lane recognition result. Likewise, it should be appreciated that while two vehicles 10 and 10' are shown in FIG. 7, the presence of a second vehicle is not necessarily required during the lane determination process.

Scene four

Fig. 8 illustrates a scene in which a relative positional relationship is determined by a photogrammetry method, taking a sign as an example.

In this case, no base station is available, nor is any vehicle available to provide the reference location information.

Such a scenario requires the perfection of infrastructure, i.e. the intersections, roadside signs 40, road signs 45 carry their exact positional information which can be read by means of graphical markings (e.g. bar codes, two-dimensional codes, three-dimensional codes, etc.) or coded light signal emitters on the signs 40, road signs 45.

When the vehicle 10 to be positioned photographs the sign 40 or the road sign 45 with the position information (i.e., the graphic mark representing its absolute position or the coded light signal emitter emitting the coded light signal representing its absolute position) in front, the absolute position of the sign is obtained by scanning the identification graphic mark or decoding the coded light signal. On the other hand, the relative positional relationship of the camera of the vehicle 10 with respect to the subject sign 40 or the road sign 45 may be determined by a photogrammetry method. Thus, the absolute position of the vehicle 10 can be determined.

Another important role of this approach is: because the road junction does not necessarily have continuous lane lines, the lane number change may not be known, and the vehicle may have turning actions, the way can well solve the lane recognition in the road junction area in order to continuously ensure the lane recognition.

[ continuous positioning method ]

As described above, initial positioning of the positioning object can be achieved. In the application scenario of vehicle navigation or automatic driving, the problem of initial recognition of the lane in which the vehicle 10 to be positioned is located can be solved by initial positioning.

Since the surroundings of the positioning object may not always be a reference object for positioning reference, and the initial positioning manner is relatively complex, the same method as described above is not always required to be used for positioning the positioning object after the initial positioning is achieved.

After determining the absolute position of the positioning object at the initial moment, inertial navigation positioning CAN be performed through an inertial sensor, a camera and vehicle motion information (vehicle speed, wheel steering and the like) provided by a CAN bus, and the real-time position of the positioning object is estimated.

The real-time position error of the positioning object obtained through inertial navigation calculation is accumulated faster. However, in the case where the positioning object is a vehicle, it is easy to determine whether or not a lane change phenomenon occurs in the vehicle itself or the road after the initial lane is determined, and errors are less likely to occur.

Thus, after the real-time location of the vehicle 10 is determined, the lane in which it is currently located may be determined based on the real-time location. After determining the lane in which the vehicle 10 is to be positioned at the initial time, it is possible to detect whether a lane change occurs through the inertial sensor, the camera, and the vehicle motion information (vehicle speed, wheel steering, etc.) provided by the CAN bus, for example, whether the vehicle 10 has a lane change action, or whether the road has a lane merging or lane separation phenomenon.

If the lane change occurs, the information of the current lane of the vehicle can be correspondingly changed according to the lane change detection result.

Thus, accurate lane information of the vehicle 10 can be maintained for a long period of time. For navigational or autopilot applications, being able to determine the lane would also be very beneficial in providing more satisfactory service to the user.

Due to the accumulated error problem with sensors (e.g., inertial sensors), the reliability of position estimation gradually decreases over time. Therefore, when the reliability of the estimated current position information is determined to be lower than the set threshold value, the initial positioning work of the positioning object (for example, the initial recognition work of the lane where the vehicle is located) can be performed again, so that the long-time positioning error (for example, the lane recognition error) can be avoided.

In the case of using the lane information of the vehicle 10 for the recognition purpose, when it is determined that the estimated current lane information of the vehicle 10 is lower than the set threshold value, the initial recognition operation of the lane in which the vehicle 10 is located may be performed again to avoid a long-time lane recognition error.

Fig. 9 illustrates a continuous positioning method according to one embodiment of the present disclosure with vehicle positioning as an example. Specifically, the positioning scheme shown in fig. 9 focuses on continuously determining the lane in which the vehicle 10 is located on the road. It will be appreciated that similar methods may be employed for more broadly consistent positioning of other positioned objects.

As shown in fig. 9, after the positioning process starts, first, in step S910, the current absolute position (positioning start position) of the positioning object (first object) may be determined by the above-described various initial positioning methods. Taking the scheme of recognizing the lane of the vehicle as an example, the current absolute position of the vehicle 10 may be determined by the V2I communication relative positioning scheme of the above-described scene one, the V2V communication relative positioning scheme of the above-described scenes two and three, and the photogrammetric positioning scheme of the above-described scene four, on the basis of which the current lane of the vehicle 10 (may be referred to as a "positioning start lane") may be determined. In fact, it is precisely the current lane of the vehicle 10 to be positioned that can be determined by the above scenario three.

After determining the positioning start lane, it is detected whether a lane change, such as a vehicle change lane or lane merging or splitting on a road, has occurred by means of an inertial sensor, a camera, a CAN device, or the like at step S920.

Upon detecting that a lane change has occurred, current lane information of the vehicle is updated and the reliability of the current lane information is determined in step S930.

In step S940, it is determined whether the reliability is lower than a set threshold.

If it is determined at step S940 that the reliability is lower than the set threshold, the process returns to step S910 to re-perform the positioning start lane recognition.

If it is determined that the reliability is not lower than the set threshold value at step S940, the current lane information may be returned at step S950.

To this end, the current lane detection process of the present wheel may end. However, for continuous positioning, it is possible to return to step S920 (the return arrow is not shown in fig. 9 to avoid simplifying the drawing) in order to continuously detect the lane change situation in order to update the current lane and the reliability at any time.

Thus, the identification of the lane in which the vehicle is currently located can be continuously achieved with higher accuracy. Broadly, a similar approach may be used to achieve continuous localization of a generally located object (first object).

Additionally, aspects of the present disclosure may also be implemented by a computing device. FIG. 10 illustrates a schematic block diagram of a computing device according to one embodiment of the present disclosure.

As shown in fig. 10, a computing device 1000 of the present disclosure may include a processor 1010 and a memory 1020. The memory 1020 may have executable code stored thereon that, when executed by the processor 1010, causes the processor 1010 to perform the above-described methods according to the present disclosure. The specific implementation process can be referred to the relevant description above, and will not be repeated here.

In addition, the scheme of the disclosure can also be implemented as a positioning device. Fig. 11 and 12 show schematic block diagrams of a positioning device according to an embodiment of the present disclosure, respectively.

Wherein the functional modules of the positioning device 1100 and the positioning device 1200 may be implemented by hardware, software, or a combination of hardware and software implementing the principles of the present invention. Those skilled in the art will appreciate that the functional modules depicted in fig. 11 and 12 may be combined or divided into sub-modules to implement the principles of the invention described above. Accordingly, the description herein may support any possible combination, or division, or even further definition of the functional modules described herein.

Only the functional modules that the positioning apparatus 1100 and the positioning apparatus 1200 may have and the operations that the functional modules may perform are briefly described below, and the details related thereto may be referred to the above description, which is not repeated herein.

Referring to fig. 11, the positioning device 1100 may include a first acquisition device 1110, a second acquisition device 1120, a first determination device 1130, and a second determination device 1140.

The first acquisition device 1110 acquires first satellite positioning information of a first object. The first object may be a moving object, for example.

The second acquisition device 1120 acquires second satellite positioning information of a second object. The second object may be, for example, a stationary object or a moving object with its own position information.

The first determining means 1130 determines a relative positional relationship of the first object with respect to the second object based on the first satellite positioning information and the second satellite positioning information.

The second determining means 1140 determines the first position information of the first object based on the second position information of the second object and the relative position relationship.

One of the first object and the second object acquires information required for determining the relative positional relationship and/or the first positional information from the other object by wireless communication.

In one embodiment, the first object is a first vehicle and the first location information is first lane information where the first vehicle is located on a road. In this case, the second determining means 1140 may determine the first lane information in two steps, for example.

First, a position determining device (not shown in the figure) determines first absolute position information of a first vehicle based on second position information and a relative position relationship.

Then, a first lane determining device (not shown in the figure) determines first lane information on which the first vehicle is located on the road based on the first absolute position information, for example, with reference to the known lane information.

In another embodiment, the second object may also be a vehicle, i.e. a second vehicle. In some cases, it may not be possible to obtain the absolute position information of the second vehicle very accurately, but the lane information in which it is located may be determined in some manner. At this time, the second position information may be second road information in which the second vehicle is located on the road.

In this case, the positioning device 1100 may further include a second road determining device (not shown in the figure) for determining second road information on the road where the second vehicle is located by means of a camera carried by the second vehicle and/or a camera carried by the first vehicle.

In a preferred embodiment, the second object is a second vehicle located on both lanes of the road. As described above, this is because lanes on both sides of the road are more easily recognized.

One of the first object and the second object searches for the other one existing therearound in order to perform the above-described positioning process.

Fig. 12 shows a schematic block diagram of a positioning device according to another embodiment of the present disclosure.

Referring to fig. 12, the positioning device 1200 may include a first positioning device 1210, a position tracking device 1220, and a reliability determining device 1230.

The first positioning device 1210 determines first position information of a first object. The first positioning device 1210 may be, for example, the positioning device 1100 shown in fig. 11.

The position tracking device 1220 tracks the position change information of the first object so as to update the first position information of the first object in real time through estimation.

The reliability determining means 1230 determines the reliability of the current first location information.

In case the confidence level is below a predetermined threshold, the first positioning means re-determines the first position information of the first object.

In one embodiment, the first object is a first vehicle and the first location information is first lane information where the first vehicle is located on a road.

In this case, the position change information of the first object may be lane change information of the first vehicle.

In one embodiment, the position tracking device 1220 may track the position change information of the first object by means of a camera and/or a sensor carried by the first object and/or with reference to the motion information of the first object itself.

The sensor may comprise, for example, a motion sensor and/or an inertial sensor.

The positioning method and the positioning system according to the present invention have been described in detail hereinabove with reference to the accompanying drawings.

Furthermore, the method according to the invention may also be implemented as a computer program or computer program product comprising computer program code instructions for performing the steps defined in the above-mentioned method of the invention.

Alternatively, the invention may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or computing device, server, etc.), causes the processor to perform the steps of the above-described method according to the invention.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or combinations of both.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (20)

1. A positioning method, comprising:

acquiring first satellite positioning information of a first object;

acquiring second satellite positioning information of a second object;

determining a relative positional relationship of the first object with respect to the second object based on the first satellite positioning information and the second satellite positioning information; and

determining first position information of the first object based on second position information of the second object and the relative position relationship; wherein the first object is a first vehicle, the second object is a second vehicle, and the second position information is second road information in which the second vehicle is located on a road; the second road information of the second vehicle on the road is determined by means of a camera carried by the second vehicle and/or a camera carried by the first vehicle;

And performing inertial navigation computation based on sensor data sensed by a sensor of the inertial navigation device of the first object to compensate for position changes caused by transmission delay during signal transmission and computation and time difference of acquisition time of the first satellite positioning information and the second satellite positioning information, so as to obtain an absolute position of the first object.

2. The positioning method according to claim 1, wherein,

the first object is a moving object, and the second object is a moving object having own position information.

3. The positioning method according to claim 1, wherein,

one of the first object and the second object acquires information required for determining the relative positional relationship and/or the first positional information from the other object by wireless communication.

4. The positioning method according to claim 1, wherein,

the first location information is first lane information where the first vehicle is located on a road.

5. The positioning method according to claim 4, wherein the second position information is second absolute position information of the second object, and the step of determining the first position information includes:

Determining first absolute position information of the first vehicle based on the second position information and the relative position relationship; and

first lane information on which the first vehicle is located on a road is determined based on the first absolute position information.

6. The positioning method according to claim 1, wherein,

the second object is a second vehicle located on both lanes of the road.

7. The positioning method according to any one of claims 1 to 6, characterized by further comprising:

the first object searches for a second object existing around the first object; or alternatively

The second object searches for the first object existing around it.

8. A positioning method, comprising:

a first object searches for a second object, wherein the first object can learn second position information of the second object from the second object; the first object searches the graphic mark by means of a camera of the first object and recognizes the graphic mark to acquire the second position information; or the second object is provided with a coded light signal emitter for emitting a coded light signal coded based on the second position information, and the first object receives the coded light signal by means of a camera thereof and decodes the coded light signal to obtain the second position information; or the second object is provided with a wireless signal transmitter for transmitting a radio signal carrying the second position information, and the first object receives the radio signal through wireless communication equipment of the first object and acquires the second position information from the radio signal;

Determining the relative position relation of the first object relative to the second object by means of a camera carried by the first object through a photogrammetry method; and

determining first position information of the first object based on the second position information and the relative position relationship;

and performing inertial navigation calculation based on sensor data sensed by a sensor of the inertial navigation device of the first object to perform position compensation, so as to obtain the absolute position of the first object.

9. The positioning method according to claim 8, wherein,

the first object is a first vehicle and the second object is one or more of a road sign, a red light.

10. A positioning method, comprising:

determining first position information of a first object using a first positioning method, the first positioning method being a positioning method according to any of claims 1-9;

tracking position change information of the first object so as to update the first position information of the first object in real time through calculation;

determining the credibility of the current first position information; and

and in the case that the reliability is lower than a predetermined threshold, determining first position information of the first object by reusing the first positioning method.

11. The positioning method according to claim 10, characterized in that

The first object is a first vehicle,

the first location information is first lane information where the first vehicle is located on a road.

12. The positioning method according to claim 11, wherein,

the position change information of the first object is lane change information of the first vehicle.

13. The positioning method according to claim 10, wherein,

the position change information of the first object is tracked by means of a camera and/or a sensor carried by the first object and/or with reference to the motion information of the first object itself.

14. The positioning method according to claim 13, wherein,

the sensor includes a motion sensor and/or an inertial sensor.

15. A positioning system comprising a first object and a second object, wherein the first position information of the first object is determined by a positioning method according to any of claims 1-14.

16. A positioning device comprising a positioning satellite signal receiver, a wireless communication module and a control module, wherein the positioning device determines first position information of the first object by a positioning method according to any of claims 1-14 as the first object or the second object.

17. A computing device, comprising:

a processor; and

a memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the positioning method of any of claims 1-14.

18. A non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the positioning method of any of claims 1-14.

19. A positioning device, comprising:

the first acquisition device is used for acquiring first satellite positioning information of a first object;

the second acquisition device is used for acquiring second satellite positioning information of a second object;

first determining means for determining a relative positional relationship of the first object with respect to the second object based on the first satellite positioning information and the second satellite positioning information; and

second determining means for determining first position information of the first object based on second position information of the second object and the relative position relationship; performing inertial navigation computation based on sensor data obtained by sensing a sensor of an inertial navigation device of the first object to compensate for a transmission delay during signal transmission and computation and a position change caused by a time difference between acquisition times of the first satellite positioning information and the second satellite positioning information, thereby obtaining an absolute position of the first object; wherein the first object is a first vehicle, the second object is a second vehicle, and the second position information is second road information in which the second vehicle is located on a road; the second road information on the road where the second vehicle is located is determined by means of a camera carried by the second vehicle and/or a camera carried by the first vehicle.

20. A positioning device, comprising:

first positioning means for determining first position information of a first object, the first positioning means being positioning means according to claim 19;

position tracking means for tracking position change information of the first object so as to update the first position information of the first object in real time by estimation;

reliability determining means for determining the reliability of the current first location information,

wherein the first positioning device re-determines the first position information of the first object in case the confidence level is below a predetermined threshold.