CN110673179B

CN110673179B - Positioning method, positioning device and storage medium

Info

Publication number: CN110673179B
Application number: CN201910867368.0A
Authority: CN
Inventors: 李旭鹏; 胡伟龙
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2019-09-12
Filing date: 2019-09-12
Publication date: 2021-12-03
Anticipated expiration: 2039-09-12
Also published as: CN110673179A

Abstract

The application discloses a positioning method, a positioning device and a storage medium, and belongs to the technical field of intelligent driving. The method comprises the following steps: the first position information and the first positioning error are obtained by utilizing GNSS, and the position information and the positioning error of a plurality of reference positioning devices and the distance between the reference positioning devices and the current vehicle respectively are obtained by the V2X technology. And correcting the first position information and the first positioning error by using the acquired position information and positioning errors of the plurality of reference positioning devices and the acquired distances between the plurality of reference positioning devices and the current vehicle respectively to obtain second position information and a second positioning error, and taking the second position information and the second positioning error as the positioning information of the current vehicle. Compared with the first positioning information and the first positioning error, the second positioning information and the second positioning error have higher positioning precision, and a special communication link is not required to be added for transmitting differential data, so that the positioning cost is reduced.

Description

Positioning method, positioning device and storage medium

Technical Field

The present disclosure relates to the field of intelligent driving technologies, and in particular, to a positioning method, an apparatus, and a storage medium.

Background

In order to comply with a new trend of automobile development in the information society, intelligent driving technology has been gradually applied to life. In the intelligent driving technology, how to position the vehicle has become one of the important issues of current concern.

In the related art, Differential Global Positioning System (DGPS) is often used for positioning, and in particular, a Global Navigation Satellite System (GNSS) receiver can be placed on a reference station for observation so as to receive signals transmitted by satellites. Wherein the precise location coordinates of the reference station are known, the GNSS receiver can calculate the distance corrections from the reference station to the satellites and broadcast over the wireless network. And the vehicle near the reference station is positioned through the GNSS, and simultaneously receives the distance correction number broadcasted by the reference station, and corrects the result after the GNSS positioning according to the distance correction number broadcasted by the reference station to obtain the final positioning result.

However, such positioning technology requires a proprietary communication link to transmit differential data, which increases the cost of positioning.

Disclosure of Invention

The application provides a positioning method, a positioning device and a storage medium, which can solve the problem of high positioning cost in the related technology. The technical scheme is as follows:

in a first aspect, a positioning method is provided, and the method includes:

acquiring first position information and a first positioning error, wherein the first position information and the first positioning error are obtained by positioning a current vehicle through a GNSS;

obtaining position information and positioning errors of a plurality of reference positioning devices through a vehicle-to-outside information exchange (V2X) technology, wherein the plurality of reference positioning devices comprise road side units and/or other vehicles, and the positioning errors of the plurality of reference positioning devices are all smaller than the first positioning error;

determining distances between the plurality of reference positioning devices and the current vehicle respectively through the V2X technology;

and correcting the first position information and the first positioning error according to the position information and the positioning errors of the plurality of reference positioning devices and the distances between the plurality of reference positioning devices and the current vehicle respectively to obtain second position information and a second positioning error, and taking the second position information and the second positioning error as the positioning information of the current vehicle.

Because the first position information and the first positioning error are obtained by positioning the current vehicle through the GNSS, the first positioning error is mainly caused by noise errors carried by the GNSS module itself and errors generated by delays of an ionosphere and a troposphere in a signal transmission process. Moreover, the positioning process needs to depend on the spaciousness degree of the current vehicle surrounding environment, that is, the more spacious the current vehicle surrounding environment is, the higher the positioning accuracy is, the sheltered the current vehicle surrounding environment is, and the larger the sheltered degree is, the lower the positioning accuracy is, therefore, under the condition that the current vehicle is in the sheltered degree is larger, the deviation of the first position information is larger than the actual position information, and the first positioning error is also larger. Therefore, the first position information and the first positioning error can only be determined that the current vehicle is within a large area range, and accurate positioning of the current vehicle is difficult to achieve. That is, the first position information may be generally referred to as coarse position information and the first positioning error may be generally referred to as a coarse positioning error.

Typically, the first location information may comprise a longitude and a latitude, and thus the first location information and the first positioning error may be expressed as a latitude and longitude coordinate with an error range. The longitude and latitude coordinates are determined by three parameters of longitude, latitude and positioning error. For example, the first position information and the first positioning error may be expressed as [ longitude ± E, latitude ± E ], where E is the first positioning error.

It should be noted that the positioning accuracy can be generally characterized by a positioning error, and the positioning accuracy is inversely proportional to the positioning error. That is, the more spacious the surrounding environment of the vehicle is, the higher the positioning accuracy is, and the smaller the positioning error is. The surrounding environment of the current vehicle is shielded, and the shielding degree is larger, the positioning precision is lower, and the positioning error is larger. Wherein the upper limit of the accuracy of positioning by GNSS may be in the range of 1-3 m.

Because the first position information and the first positioning error are positioned by the GNSS, and the GNSS is easily affected by an ionosphere, a troposphere, a spaciousness degree of the surrounding environment of the current vehicle, and the like in the positioning process, the first position information and the first positioning error are usually not very accurate. In addition, since the current vehicle can perform information interaction with surrounding roadside units and other vehicles through the V2X technology, the positioning accuracy of the roadside unit is particularly high, and there may be a vehicle with relatively high positioning accuracy among other vehicles, and therefore, these roadside units and other vehicles with relatively high positioning accuracy may be used as reference positioning devices, and then the vehicle position information and the positioning error of the reference positioning device, and the distance between the reference positioning device and the current vehicle, the first position information and the first positioning error are corrected to obtain second position information and a second positioning error, and compared with the first position information and the first positioning error, the positioning accuracy of the second position information and the second positioning error is higher, in addition, a special communication link is not required to be added in the process for transmitting differential data, so that the positioning cost is reduced.

Optionally, the correcting the first position information and the first positioning error according to the position information and the positioning error of the multiple reference positioning devices and the distance between the multiple reference positioning devices and the current vehicle, respectively, to obtain second position information and a second positioning error includes:

determining a plurality of error zones corresponding to the plurality of reference positioning devices one by one according to the position information and the positioning errors of the plurality of reference positioning devices and the distances between the plurality of reference positioning devices and the current vehicle respectively;

assigning a weight to each error zone of the plurality of error zones, wherein a width of an error zone is inversely proportional to the weight;

determining weights of a plurality of target zone overlapping regions according to the weight of each error zone in the plurality of error zones, the first position information and the first positioning error;

determining the second position information and the second positioning error according to the weights of the plurality of target zone overlapping areas.

Since the width of the error zone is the sum of the positioning error of the reference positioning device and the V2X error of the current vehicle, the larger the sum of these two five errors is, the larger the width of the error zone is, and the smaller the sum of these two errors is, the smaller the width of the error zone is. Because the error of the V2X of the current vehicle is fixed, the larger the positioning error of the reference positioning equipment is, the larger the width of the error zone is, the lower the positioning accuracy is, and further the reference significance of the error zone of the reference positioning equipment is, the smaller the positioning error of the reference positioning equipment is, the smaller the width of the error zone is, the higher the positioning accuracy is, and further the reference significance of the error zone of the reference positioning equipment is, the larger the positioning accuracy is. Therefore, a weight may be assigned to each error zone of the plurality of error zones on the principle that the width of the error zone is inversely proportional to the weight. That is, the larger the width of the error zone, the smaller the corresponding weight, and the smaller the width of the error zone, the larger the corresponding weight.

In some embodiments, the weights may be assigned as ratios of the positioning errors of the reference positioning devices corresponding to the plurality of error zones.

Optionally, the determining, according to the position information and the positioning errors of the multiple reference positioning devices and the distances between the multiple reference positioning devices and the current vehicle, multiple error zones in one-to-one correspondence with the multiple reference positioning devices includes:

for any one of the plurality of reference positioning devices, determining the sum of the positioning error of the reference positioning device and the V2X error of the current vehicle, and taking the obtained sum of the errors as the width of an error zone corresponding to the reference positioning device;

and determining an error zone corresponding to any reference positioning device by taking a position point corresponding to the position information of any reference positioning device as a circle center and taking the distance between any reference positioning device and the current vehicle as a radius based on the width of the error zone corresponding to any reference positioning device.

It should be noted that the V2X error of the current vehicle is the error of the V2X module itself included in the vehicle-mounted positioning device installed in the current vehicle. That is, the V2X error of the current vehicle is generated by the operating noise of the V2X module, which is inevitable. Generally, the V2X error generated by the V2X module of the current vehicle is a fixed value.

Optionally, the determining weights of a plurality of target zone overlapping regions according to the weight of each of the plurality of error zones, and the first position information and the first positioning error includes:

determining an error area of the current vehicle by taking the position point corresponding to the first position information as a circle center and the first positioning error as a radius;

determining the overlapping areas of the error zones to obtain a plurality of first overlapping areas;

determining a first overlap region of the plurality of first overlap regions that is located within the error region as the plurality of target annulus overlap regions;

and determining the sum of the weights of the error zones in each target zone overlapping area as the weight of the corresponding target zone overlapping area.

Optionally, the determining the second position information and the second positioning error according to the weights of the plurality of target zone overlapping regions includes:

selecting a plurality of second overlap regions from the plurality of target annulus overlap regions having a weight greater than a first threshold;

determining position information of a position point within a second overlapping area with the largest weight as the second position information;

and determining the second positioning error according to the second position information, wherein a ratio of a first number to a total number of the plurality of second overlapping areas is greater than a second threshold, and the first number refers to a number of the second overlapping areas in a circular area with a position point corresponding to the second position information as a center and the second positioning error as a radius.

The second position information and the second positioning error are relative to the first position information and the first positioning error, the second position information and the second positioning error are the position information and the positioning error of the current vehicle obtained after the first position information and the first positioning error are corrected, the second position information is more accurate, the second positioning error is smaller, and the positioning precision is higher.

It should be noted that the first threshold is a standard used to define whether the target zone overlapping area is valid, and if the weight of the target zone overlapping area is smaller than the first threshold, it indicates that the weights of the error zones corresponding to the target zone overlapping area are all smaller, and further indicates that the widths of the error zones corresponding to the target zone overlapping area are larger, that is, the positioning errors of the reference positioning devices corresponding to the error zones corresponding to the target zone overlapping area are larger, and the positioning accuracy is lower, so that it can be determined that the positioning of the target zone overlapping area on the current vehicle is invalid.

Based on the above description, the widths of the error zones corresponding to the second overlapping area with the largest weight may be smaller, that is, the positioning error of the reference positioning device corresponding to each error zone corresponding to the second overlapping area with the largest weight is smaller, and the positioning accuracy is higher, so that the positioning accuracy of the second overlapping area with the largest weight is highest, and further, a position point may be selected from the second overlapping area with the largest weight, and the position information corresponding to the position point is used as the second position information.

It should be further noted that the second threshold is a criterion used for determining the second positioning error, that is, when the number of the second overlapping areas in the circular area with a certain numerical value as the radius is greater than the second threshold with the position point corresponding to the second position information as the center of the circle, the numerical value may be determined as the second positioning error, in other words, if most of the second overlapping areas are located in the circular area, the circular area may be considered as a high-precision positioning error range, and the radius of the circular area may be further used as the second positioning error.

In a second aspect, a positioning apparatus is provided, which has the function of implementing the positioning method behavior in the first aspect. The positioning device comprises at least one module, and the at least one module is used for implementing the positioning method provided by the first aspect.

In a third aspect, a vehicle-mounted positioning device is provided, which comprises a processor and a memory, wherein the memory is used for storing a program for executing the positioning method provided by the first aspect and storing data used for realizing the positioning method provided by the first aspect. The processor is configured to execute programs stored in the memory. The operating means of the memory device may further comprise a communication bus for establishing a connection between the processor and the memory.

In a fourth aspect, a computer-readable storage medium is provided, which has stored therein instructions, which, when run on a computer, cause the computer to perform the positioning method of the first aspect described above.

In a fifth aspect, a computer program product is provided, comprising instructions, which when run on a computer, cause the computer to perform the positioning method of the first aspect described above.

The technical effects obtained by the above second, third, fourth and fifth aspects are similar to the technical effects obtained by the corresponding technical means in the first aspect, and are not described herein again.

The technical scheme provided by the application can at least bring the following beneficial effects: because the first position information and the first positioning error are positioned by the GNSS, and the GNSS is easily affected by an ionosphere, a troposphere, a spaciousness degree of the surrounding environment of the current vehicle, and the like in the positioning process, the first position information and the first positioning error are usually not very accurate. In addition, since the current vehicle can perform information interaction with surrounding roadside units and other vehicles through the V2X technology, the positioning accuracy of the roadside unit is particularly high, and there may be a vehicle with relatively high positioning accuracy among other vehicles, and therefore, these roadside units and other vehicles with relatively high positioning accuracy may be used as reference positioning devices, and then the vehicle position information and the positioning error of the reference positioning device, and the distance between the reference positioning device and the current vehicle, the first position information and the first positioning error are corrected to obtain second position information and a second positioning error, and compared with the first position information and the first positioning error, the positioning accuracy of the second position information and the second positioning error is higher, in addition, a special communication link is not required to be added in the process for transmitting differential data, so that the positioning cost is reduced.

Drawings

FIG. 1 is a diagram of a positioning system architecture provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of an on-board positioning apparatus provided in an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure;

fig. 4 is a flowchart of a positioning method provided in an embodiment of the present application;

fig. 5 is a flowchart of a method for correcting positioning information according to an embodiment of the present application;

FIG. 6 is a schematic view of an error zone of a plurality of reference positioning devices provided in an embodiment of the present application;

FIG. 7 is a schematic diagram of an error zone in an error zone of a current vehicle according to an embodiment of the present disclosure;

fig. 8 is a schematic diagram illustrating a location information modification according to an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a modification module according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Fig. 1 is a diagram of a positioning system according to an embodiment of the present disclosure. As shown in fig. 1, the positioning system 100 includes a plurality of roadside units 101 and a plurality of vehicles 102, and the plurality of vehicles 102 includes a current vehicle and other vehicles. As shown in fig. 2, each roadside unit and each vehicle have an onboard locating device 200 mounted therein, and the onboard locating device 200 may include a V2X module 201, a GNSS module 202, and a data processing module 203. For convenience of description, the following takes an on-board positioning device installed on a current vehicle as an example, and each module included in the on-board positioning device is described.

The GNSS module 202 is generally configured to obtain first position information and a first positioning error of a current vehicle.

The V2X module 201 may implement information interaction between the current vehicle and the roadside unit, and may also implement information interaction between the current vehicle and other vehicles, that is, the current vehicle may broadcast the first location information and the first location error of the current vehicle to the outside through the V2X module 201. In this way, the road side unit and other vehicles within the broadcast range of the current vehicle may receive the first position information and the first positioning error of the current vehicle. The V2X module 201 may also obtain the distance between the current vehicle and the roadside unit, as well as the distance between the current vehicle and other vehicles.

The data processing module 203 may correct the first position information and the first positioning error of the current vehicle according to the position information and the positioning error of the road side unit and/or other vehicles and the distance between the road side unit and/or other vehicles and the current vehicle, respectively, so as to obtain the second position information and the second positioning error.

It should be noted that the data processing module 203 may be a processor with data processing capability. The V2X201 module is a communication module, and a communication frequency band of the communication module is a dedicated frequency band. A roadside unit is a facility, typically placed at the roadside, that is equipped with a V2X module, which may be a street light or other building. That is, the drive test unit is typically known in location and fixed in location.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a computer device according to an embodiment of the present application, where the computer device may be the vehicle-mounted positioning device 200 shown in fig. 1. The computer device comprises at least one processor 301, a communication bus 302, a memory 303 and at least one communication interface 304.

The processor 301 may be a general-purpose Central Processing Unit (CPU), a Network Processor (NP), a microprocessor, or one or more integrated circuits such as an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof, for implementing the present invention. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.

A communication bus 302 is used to transfer information between the above components. The communication bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The Memory 303 may be a Read-Only Memory (ROM) or other types of static storage devices that can store static information and instructions, a Random Access Memory (RAM) or other types of dynamic storage devices that can store information and instructions, an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), a magnetic Disc storage medium or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of instructions or data structures and which can be accessed by a computer, but is not limited to such. The memory 303 may be separate and coupled to the processor 301 through a communication bus 302. The memory 303 may also be integrated with the processor 301.

The communication interface 304 uses any transceiver or the like for communicating with other devices or communication networks. The communication interface 304 includes a wired communication interface, and may also include a wireless communication interface. The wired communication interface may be an ethernet interface, for example. The ethernet interface may be an optical interface, an electrical interface, or a combination thereof. The Wireless communication interface may be a Wireless Local Area Network (WLAN) interface, a cellular network communication interface, or a combination thereof.

In particular implementations, processor 301 may include one or more CPUs such as CPU0 and CPU1 shown in fig. 3 for one embodiment.

In particular implementations, a computer device may include multiple processors, such as processor 301 and processor 305 shown in FIG. 3, as one embodiment. Each of these processors may be a single-Core Processor (CPU) or a multi-Core Processor (CPU). A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).

In particular implementations, the computer device may also include an output device 306 and an input device 307, as one embodiment. An output device 306 is in communication with the processor 301 and may display information in a variety of ways. For example, the output device 306 may be a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display device, a Cathode Ray Tube (CRT) display device, a projector (projector), or the like. The input device 307 is in communication with the processor 301 and may receive user input in a variety of ways. For example, the input device 307 may be a mouse, a keyboard, a touch screen device, a sensing device, or the like.

In some embodiments, the memory 303 is used to store program code 310 for performing aspects of the present application, and the processor 301 may execute the program code 310 stored in the memory 303. That is, the computer device can implement the positioning method provided in the embodiment of fig. 4 below through the processor 301 and the program code 310 in the memory 303.

Fig. 4 is a flowchart of a positioning method provided in an embodiment of the present application, where the method is applied to a current vehicle, and in particular, may be applied to an on-board positioning device installed in the current vehicle. Referring to fig. 4, the method includes the following steps.

Step 401: and acquiring first position information and a first positioning error, wherein the first position information and the first positioning error are obtained by positioning the current vehicle through a GNSS.

Because the first position information and the first positioning error are obtained by positioning the current vehicle through the GNSS, the first positioning error is mainly caused by noise errors carried by the GNSS module itself and errors generated by delays of an ionosphere and a troposphere in a signal transmission process. Moreover, the positioning process needs to depend on the spaciousness degree of the current vehicle surrounding environment, that is, the more spacious the current vehicle surrounding environment is, the higher the positioning accuracy is, the sheltered the current vehicle surrounding environment is, and the larger the sheltered degree is, the lower the positioning accuracy is, therefore, under the condition that the current vehicle is in the sheltered degree is larger, the deviation of the first position information is larger than the actual position information, and the first positioning error is also larger. Meanwhile, when the current vehicle is positioned through the GNSS, the upper limit of the positioning accuracy is 2m, that is, the first positioning error is at least greater than 2m under the ideal condition that the surrounding environment where the current vehicle is located is not shielded. Therefore, the first position information and the first positioning error can only be determined that the current vehicle is within a large area range, and accurate positioning of the current vehicle is difficult to achieve. That is, the first position information may be generally referred to as coarse position information and the first positioning error may be generally referred to as a coarse positioning error.

Typically, the first location information may comprise a longitude and a latitude, and thus the first location information and the first positioning error may be expressed as a latitude and longitude coordinate with an error range. The longitude and latitude coordinates are determined by three parameters of longitude, latitude and positioning error. For example, the first location information and the first positioning error may be expressed as longitude and latitude coordinates [ longitude ± E, latitude ± E ], where E is the first positioning error.

It should be noted that the positioning accuracy can be generally represented by a positioning error, and the positioning accuracy is inversely proportional to the positioning error, that is, the more spacious the current vehicle surrounding environment is, the higher the positioning accuracy is, the smaller the positioning error is, the current vehicle surrounding environment is occluded, and the larger the occlusion degree is, the lower the positioning accuracy is, and the larger the positioning error is.

Step 402: through the V2X technology, position information and positioning errors of a plurality of reference positioning devices are obtained, the plurality of reference positioning devices comprise road side units and/or other vehicles, and the positioning errors of the plurality of reference positioning devices are all smaller than the first positioning error.

In one possible implementation manner, the implementation procedure of step 402 may be: the vehicle-mounted positioning equipment of the current vehicle acquires the position information and the positioning errors of a plurality of road side units and the position information and the positioning errors of a plurality of other vehicles through a V2X technology, selects other vehicles with the positioning errors smaller than the first positioning error, takes the selected other vehicles and the plurality of road side units together as a plurality of reference positioning equipment, and determines the position information and the positioning errors of the plurality of reference positioning equipment from the acquired position information and the positioning errors.

Based on the above description, the roadside unit, the current vehicle and other vehicles are all installed with vehicle-mounted positioning devices, and the vehicle-mounted positioning devices include the V2X module, and since the devices installed with the V2X module can broadcast their own position information and positioning error. Therefore, it is possible for the on-vehicle positioning apparatus installed in the current vehicle to receive the position information and the positioning errors of the plurality of roadside units, and the position information and the positioning errors of the plurality of other vehicles. In addition, since the position of the road side unit is generally known and fixed, and the position information of the road side unit is calibrated, the accuracy of the road side unit can be considered to be the highest, and therefore, the road side unit can be directly used as a reference positioning device without being selected according to a positioning error.

For example, longitude and latitude coordinates represented by the first position information and the first positioning error are [ 116.4968 ± 0.0005, 39.9142 ± 0.0005 ], the vehicle-mounted positioning device of the current vehicle acquires the position information and the positioning error of 1 roadside unit and the position information and the positioning error of 4 other vehicles through the V2X technology, and the longitude and latitude coordinates represented by the position information and the positioning error of the 1 roadside unit and the longitude and latitude coordinates represented by the position information and the positioning error of the 4 other vehicles are respectively as follows:

roadside units R [ 116.4953 + -0.000001, 39.9131 + -0.000001 ]

Vehicle A [ 116.4963 + -0.0003, 39.9151 + -0.0003 ]

Vehicle B [ 116.4965 + -0.0002, 39.9148 + -0.0002 ]

C car [ 116.4960 + -0.0001, 39.9140 + -0.0001 ]

D vehicle (116.4958 + -0.0008, 39.9132 + -0.0008)

It can be seen that the positioning errors of the vehicle A, the vehicle B and the vehicle C are all smaller than the first positioning error of the current vehicle. And the positioning error of the vehicle D is larger than the first positioning error of the current vehicle. Therefore, the vehicle A, the vehicle B, the vehicle C and the road side unit R can be selected as reference positioning equipment.

It should be noted that if the current vehicle does not receive the position information and the positioning error broadcast by the road side unit, and the received positioning errors of other vehicles are all greater than the positioning error of the current vehicle, the positioning enhancement operation may be directly ended.

Step 403: by the V2X technique, distances between the respective plurality of reference positioning devices and the current vehicle are determined.

In some embodiments, the on-board positioning device installed in the current vehicle may analyze information such as signal strength, phase of carrier wave, and the like during V2X communication between the plurality of reference positioning devices and the current vehicle, respectively, so as to calculate a distance between the current vehicle and each reference positioning device. The correlation calculation process may refer to the prior art.

Step 404: and correcting the first position information and the first positioning error according to the position information and the positioning errors of the plurality of reference positioning devices and the distances between the plurality of reference positioning devices and the current vehicle respectively to obtain second position information and a second positioning error, and taking the second position information and the second positioning error as the positioning information of the current vehicle.

In one possible implementation, as shown in FIG. 5, the process of step 404 may be accomplished by sub-steps 4041-4044:

4041: and determining a plurality of error zones corresponding to the plurality of reference positioning devices one by one according to the position information and the positioning errors of the plurality of reference positioning devices and the distances between the plurality of reference positioning devices and the current vehicle.

The error zone corresponding to the reference locator device is used to represent the zone of the zone into which the current vehicle, as determined by the reference locator device, may fall at the current time.

In one possible implementation, the determination of the annulus error in step 4041 may be performed by: for any one of the plurality of reference positioning devices, determining the sum of the positioning error of the reference positioning device and the V2X error of the current vehicle, and taking the sum of the obtained errors as the width of the error zone corresponding to the reference positioning device. And determining the error zone corresponding to any reference positioning device by taking the position point corresponding to the position information of any reference positioning device as the center of a circle and the distance between any reference positioning device and the current vehicle as the radius based on the width of the error zone corresponding to any reference positioning device.

For example, assume that the current vehicle is vehicle D, the positioning error of vehicle A is represented by Ea, the positioning error of vehicle B is represented by Eb, the positioning error of vehicle C is represented by Ec, the positioning error of roadside unit R is represented by Er, and the positioning error of the current vehicle V2X is represented by Eld. Then, the width of the error zone corresponding to the vehicle a is determined to be Ea + Eld, the width of the error zone corresponding to the vehicle B is determined to be Eb + Eld, the width of the error zone corresponding to the vehicle C is determined to be Ec + Eld, and the width of the error zone corresponding to the roadside unit R is determined to be Er + Eld. Assume that the distance between the vehicle a and the vehicle D is represented by Da, the distance between the vehicle B and the vehicle D is represented by Db, the distance between the vehicle C and the vehicle D is represented by Dc, and the distance between the roadside unit R and the vehicle D is represented by Dr. As shown in fig. 6, an error zone a corresponding to the vehicle a is determined with a position point corresponding to the position information of the vehicle a as a center of a circle and a distance Da between the vehicle a and the vehicle D as a radius, and the zone width of the error zone a is Ea + Eld. And determining an error zone B corresponding to the vehicle B by taking the position point corresponding to the position information of the vehicle B as a circle center and the distance Db between the vehicle B and the vehicle D as a radius, wherein the width of the error zone B is Eb + Eld. And determining an error zone C corresponding to the vehicle C by taking the position point corresponding to the position information of the vehicle C as a circle center and the distance Dc between the vehicle C and the vehicle D as a radius, wherein the width of the error zone C is Ec + Eld. And determining an error ring band R corresponding to the road side unit R by taking the position point corresponding to the position information of the road side unit R as a circle center and taking the distance Dr between the road side unit R and the vehicle D as a radius, wherein the ring band width of the error ring band R is Er + Eld.

It is noted that, here, when determining the error loop width, the error loop width corresponding to each reference locator device is added to the V2X error of the current vehicle. And the error of the V2X of the current vehicle is a fixed value, so whether to add the V2X error has no influence on the result of determining the second position information and the second positioning error according to the weight distributed by the error zone. But the enhanced positioning method of the application can be closer to the real life situation by adding the V2X error.

4042: a weight is assigned to each error zone in the plurality of error zones, wherein a width of an error zone is inversely proportional to the weight.

Since the width of the error zone is the sum of the positioning error of the reference positioning device and the V2X error of the current vehicle, the larger the sum of the two errors, the larger the width of the error zone, and the smaller the sum of the two errors, the smaller the width of the error zone. Because the error of the V2X of the current vehicle is fixed, the larger the positioning error of the reference positioning equipment is, the larger the width of the error zone is, the lower the positioning accuracy is, and further the reference significance of the error zone of the reference positioning equipment is, the smaller the positioning error of the reference positioning equipment is, the smaller the width of the error zone is, the higher the positioning accuracy is, and further the reference significance of the error zone of the reference positioning equipment is, the larger the positioning accuracy is. Therefore, a weight may be assigned to each error zone of the plurality of error zones on the principle that the width of the error zone is inversely proportional to the weight. That is, the larger the width of the error zone, the smaller the corresponding weight, and the smaller the width of the error zone, the larger the corresponding weight.

For example, the positioning error of the vehicle a is 0.0003, the positioning error of the vehicle B is 0.0002, the positioning error of the vehicle C is 0.0001, and the positioning error of the roadside unit R is 0.000001. According to the ratio of the 4 positioning errors, the weights of the error zones are respectively 0.12 for the error zone A, 0.16 for the error zone B, 0.24 for the error zone C and 0.48 for the error zone R. The corresponding relationship between each error zone and the weight is as shown in the table 1:

TABLE 1

Error ring belt	A	B	C	R
					Weight of	0.12	0.16	0.24	0.48

It should be noted that, the above-mentioned assigning the weight according to the ratio of the positioning errors of the reference positioning devices corresponding to the plurality of error zones is only one implementation manner, and in practical applications, the weight may be assigned in other manners as long as the weight of the error zone with the larger width is smaller and the weight of the error zone with the smaller width is larger.

4043: determining weights of overlapping regions of the plurality of target zones according to the weight of each error zone of the plurality of error zones, and the first position information and the first positioning error.

In one possible implementation manner, the implementation procedure of step 4043 may be: and determining an error area of the current vehicle by taking the position point corresponding to the first position information as a circle center and the first positioning error as a radius. And determining the overlapping areas of the plurality of error zones to obtain a plurality of first overlapping areas. Determining a first overlap region of the plurality of first overlap regions that is located within the error region as a plurality of target annulus overlap regions. And determining the sum of the weights of the error zones in each target zone overlapping area as the weight of the corresponding target zone overlapping area.

For example, as shown in fig. 6, there are 11 overlapping regions in the error zones, and these 11 overlapping regions are the first overlapping regions. As shown in fig. 7, fig. 7 is a partially enlarged view of an error zone in the error region of the present vehicle. In fig. 7, an error zone a has an overlapping region with an error zone C and an error zone R, an error zone B has an overlapping region with the error zone C and the error zone R, the error zone C has an overlapping region with the error zone B and the error zone R, and an overlapping region also exists among the error zone a, the error zone C, and the error zone R. These overlap regions are the target annulus overlap regions. For convenience of description, these target zone overlapping regions are denoted as A.andgate C, A.andgate R, B.andgate C, B.andgate R, C.andgate R, A.andgate R, respectively. Wherein, n means intersection.

The weight of A # C is 0.36 of the sum of the weights of the error zone A and the error zone C. The weight of A # R is the sum of the weights of the error zone A and the error zone R, and is 0.6. The weight of B ^ andgate C is 0.4 of the sum of the weights of the error zone B and the error zone C. The weight of B ^ R is the sum of the weights of the error zone B and the error zone R, and is 0.64. The weight of C ^ R is the sum of the weights of the error zone C and the error zone R, and is 0.72. The weight of A ≈ B ≈ R is 0.84 of the sum of the weights of the error band A, the error band C, and the error band R. The corresponding relationship between each target zone overlapping area and the weight is as shown in the list 2:

TABLE 2

Target annulus overlap region	A∩C	A∩R	B∩C	B∩R	C∩R	A∩C∩R
							Weight of	0.36	0.6	0.4	0.64	0.72	0.84

4044: second position information and a second positioning error are determined based on the weights of the overlapping regions of the plurality of target zones.

In one possible implementation manner, the implementation procedure of step 4044 may be: a plurality of second overlap regions having a weight greater than a first threshold are selected from the plurality of target annulus overlap regions. And determining the position information of a position point in the second overlapping area with the largest weight as the second position information. And determining a second positioning error according to the second position information, wherein the ratio of the first number to the total number of the plurality of second overlapping areas is greater than a second threshold, and the first number refers to the number of the second overlapping areas in a circular area with the position point corresponding to the second position information as the center of the circle and the second positioning error as the radius.

It should be noted that the first threshold is a standard used to define whether the target zone overlapping area is valid, and if the weight of the target zone overlapping area is smaller than the first threshold, it indicates that the weights of the error zones corresponding to the target zone overlapping area are all smaller, and further indicates that the widths of the error zones corresponding to the target zone overlapping area are larger, that is, the positioning errors of the reference positioning devices corresponding to the error zones corresponding to the target zone overlapping area are larger, and the positioning accuracy is lower, so that it can be determined that the positioning of the target zone overlapping area on the current vehicle is invalid. For example, when the width of each error zone corresponding to the target zone overlapping area is greater than 1/2 of the radius of the error zone of the current vehicle, the target zone overlapping area is considered invalid.

For example, assuming that the first threshold is 0.5, it can be determined that the second overlap regions are A ≦ R, B ≦ R, C ≦ R and A ≦ C ≦ R, respectively. The corresponding relationship between each second overlapping area and the weight may be as listed in table 3:

TABLE 3

Second overlap region	A∩R	B∩R	C∩R	A∩C∩R
					Weight of	0.6	0.64	0.72	0.84

In some embodiments, a position point may be randomly selected from the second overlapping region with the largest weight, or a geometric center point of the second overlapping region with the largest weight may also be selected, or of course, the geometric center point may also be selected in other manners, which is not limited in this application.

In some embodiments, the second positioning error may be determined in a step-wise progressive manner. That is, the circular area is determined by taking the position point corresponding to the second position information as the center of the circle and the third threshold as the radius. Counting the number of the second overlapping areas in the circular area, and if the ratio of the number of the second overlapping areas in the circular area to the total number of the plurality of second overlapping areas is greater than a second threshold, then the fixed step size may be decreased based on a third threshold to obtain a first value. Then, a circular area is determined by taking the position point corresponding to the second position information as a center of a circle and taking the first numerical value as a radius, and if the ratio of the number of the second overlapping areas in the circular area to the total number of the plurality of second overlapping areas is not greater than a second threshold, the second threshold can be directly used for determining a second positioning error. If the ratio of the number of the second overlapping areas in the circular area to the total number of the plurality of second overlapping areas is still larger than a second threshold, the fixed step size is reduced on the basis of the first value to obtain a second value, the circular area is determined by taking the position point corresponding to the second position information as the center of a circle and the first value as the radius, and the process is continued, so that a second positioning error is determined.

Similarly, if the ratio between the number of second overlapping areas in the circular area and the total number of the plurality of second overlapping areas is not greater than the second threshold after the circular area is determined by the third threshold as the radius, the fixed step size may be increased based on the third threshold, and then the second positioning error may be determined by the similar procedure as described above.

It should be noted that the third threshold and the fixed step may be set empirically, which is not limited in the embodiment of the present application.

For example, as can be seen from table 3, the weight of the second overlapping area a ∞ R is the largest, and then a location point can be selected from the second overlapping area a ∞ R, assuming that the location information of the geometric center point of the second overlapping area a ∞ R is selected as the second location information, and assuming that the second threshold is 68%, then the circular area where more than 68% of the second overlapping area a ∞ R is located can be determined according to the above process around the geometric center point of the second overlapping area a ∞ R as the center of the circle as shown in fig. 8, and the radius of the circular area is used as the second positioning error.

It is noted that, after the current vehicle has been corrected for position information and positioning error through the above steps, the current vehicle may broadcast its own second position information and second positioning error through the V2X technique. Therefore, other vehicles with lower positioning accuracy around the vehicle can be facilitated, and the positioning accuracy of the vehicle is improved by depending on the second position information and the second positioning error of the current vehicle.

In addition, because the positioning enhancement method provided by the embodiment of the application can be applied to the field of automatic driving, after the current vehicle determines the second position information and the second positioning error according to the method, the trajectory analysis can be performed based on the second position information, the second positioning error and the current speed, and the position information, the positioning error and the speed of the surrounding roadside units or other vehicles, so as to calculate the collision warning. The collision early warning calculation can refer to the related technology, and the speeds of the road side unit and other vehicles can be acquired through the V2X technology.

Further, if there is no overlapping area with a weight greater than the first threshold value among the target zone overlapping areas, that is, the weights of the target zone overlapping areas are all less than the first threshold value, the operation may be directly ended.

In the embodiment of the present application, because the first position information and the first positioning error are obtained by positioning the current vehicle through the GNSS, and the GNSS positioning process is easily affected by the ionosphere, the troposphere, the spaciousness of the current vehicle surrounding environment, and the like, the first position information and the first positioning error are usually not very accurate. In addition, because the current vehicle can perform information interaction with surrounding roadside units and other vehicles through the V2X technology, the positioning accuracy of the roadside units is particularly high, and other vehicles may also have vehicles with relatively high positioning accuracy, these roadside units and other vehicles with relatively high positioning accuracy can be used as reference positioning equipment, and then the first position information and the first positioning error are corrected through the position information and the positioning error of the reference positioning equipment and the distance between the reference positioning equipment and the current vehicle respectively, so as to obtain second position information and a second positioning error, the positioning accuracy of the second position information and the second positioning error is higher than that of the first position information and the first positioning error, that is, the vehicle with lower positioning accuracy can improve the positioning accuracy thereof through the equipment with higher positioning accuracy, in addition, a special communication link is not required to be added in the process for transmitting differential data, so that the positioning cost is reduced.

Fig. 9 is a schematic structural diagram of a positioning apparatus provided in an embodiment of the present application, where the positioning apparatus may be implemented by software, hardware, or a combination of the two as part or all of an on-vehicle positioning device, which may be the on-vehicle positioning device shown in fig. 1. Referring to fig. 9, the apparatus includes: a first obtaining module 901, a second obtaining module 902, a determining module 903 and a revising module 904.

A first obtaining module 901, configured to perform the operation of step 401 in the embodiment of fig. 4;

a second obtaining module 902, configured to perform the operation of step 402 in the embodiment of fig. 4;

a determining module 903, configured to perform the operation of step 403 in the embodiment of fig. 4;

a modification module 904, configured to perform the operation of step 403 in the embodiment of fig. 4.

Optionally, as shown in fig. 10, the modification module 904 includes:

a first determination submodule 9041, configured to perform the operation of step 4041 in the embodiment of fig. 4;

an allocation submodule 9042, configured to perform the operation of step 4042 in the embodiment of fig. 4;

a second determination sub-module 9043, configured to perform the operation of step 4043 in the embodiment of fig. 4;

a third determination sub-module 9044 is configured to perform the operation of step 4044 in the embodiment of fig. 4.

Optionally, the first determining submodule 9041 includes:

the first determination unit is used for determining the sum of the positioning error of any reference positioning equipment and the V2X error of the current vehicle for any reference positioning equipment in the plurality of reference positioning equipment, and taking the obtained sum of the errors as the width of an error zone corresponding to any reference positioning equipment;

and the second determining unit is used for determining the error zone corresponding to any reference positioning device by taking a position point corresponding to the position information of any reference positioning device as a circle center and taking the distance between any reference positioning device and the current vehicle as a radius based on the width of the error zone corresponding to any reference positioning device.

Optionally, the second determining submodule 9043 includes:

the third determining unit is used for determining an error area of the current vehicle by taking the position point corresponding to the first position information as a circle center and the first positioning error as a radius;

a fourth determining unit, configured to determine overlapping areas of the multiple error zones to obtain multiple first overlapping areas;

a fifth determining unit configured to determine a first overlap area located within the error area among the plurality of first overlap areas as a plurality of target annulus overlap areas;

and a sixth determining unit, configured to determine the sum of the weights of the error zones located in each target zone overlapping area as the weight of the corresponding target zone overlapping area.

Optionally, the third determining sub-module 9044 includes:

a selecting unit configured to select a plurality of second overlap regions having a weight greater than a first threshold value from among the plurality of target annulus overlap regions;

a seventh determining unit configured to determine, as the second position information, position information of one position point within the second overlapping area where the weight is largest;

and an eighth determining unit, configured to determine a second positioning error according to second position information, where a ratio between a first number and a total number of the plurality of second overlapping areas is greater than a second threshold, and the first number is a number of the second overlapping areas in a circular area with a center of a position point corresponding to the second position information and a radius of the second positioning error.

In the embodiment of the present application, because the first position information and the first positioning error are obtained by positioning the current vehicle through the GNSS, and the GNSS positioning process is easily affected by the ionosphere, the troposphere, the spaciousness of the current vehicle surrounding environment, and the like, the first position information and the first positioning error are usually not very accurate. In addition, since the current vehicle can perform information interaction with surrounding roadside units and other vehicles through the V2X technology, the positioning accuracy of the roadside unit is particularly high, and there may be a vehicle with relatively high positioning accuracy among other vehicles, and therefore, these roadside units and other vehicles with relatively high positioning accuracy may be used as reference positioning devices, and then the vehicle position information and the positioning error of the reference positioning device, and the distance between the reference positioning device and the current vehicle, the first position information and the first positioning error are corrected to obtain second position information and a second positioning error, and compared with the first position information and the first positioning error, the positioning accuracy of the second position information and the second positioning error is higher, in addition, a special communication link is not required to be added in the process for transmitting differential data, so that the positioning cost is reduced.

It should be noted that: in the positioning device provided in the above embodiment, only the division of the above functional modules is used for illustration in positioning, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the positioning apparatus and the positioning method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments and are not described herein again.

In the above embodiments, the implementation may be wholly or partly realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The processes or functions described in accordance with the embodiments of the present application occur in whole or in part when the computer instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., Digital Versatile Disk (DVD)), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others. It is noted that the computer-readable storage medium referred to herein may be a non-volatile storage medium, in other words, a non-transitory storage medium.

It should be understood that reference herein to "a plurality" means two or more. In the description of the present application, "/" indicates an OR meaning, for example, A/B may indicate A or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in order to facilitate clear description of technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.

The above-mentioned embodiments are not intended to limit the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of positioning, the method comprising:

acquiring first position information and a first positioning error, wherein the first position information and the first positioning error are obtained by positioning a current vehicle through a Global Navigation Satellite System (GNSS);

acquiring position information and positioning errors of a plurality of reference positioning devices by using a vehicle-to-outside information exchange V2X technology, wherein the plurality of reference positioning devices comprise road side units and/or other vehicles, and the positioning errors of the plurality of reference positioning devices are all smaller than the first positioning error;

correcting the first position information and the first positioning error according to the position information and the positioning errors of the plurality of reference positioning devices and the distances between the plurality of reference positioning devices and the current vehicle respectively to obtain second position information and a second positioning error, and taking the second position information and the second positioning error as the positioning information of the current vehicle;

the correcting the first position information and the first positioning error according to the position information and the positioning error of the plurality of reference positioning devices and the distance between the plurality of reference positioning devices and the current vehicle respectively to obtain second position information and a second positioning error comprises:

2. The method of claim 1, wherein determining a plurality of error zones corresponding to the plurality of reference positioning devices in a one-to-one correspondence according to the position information and the positioning errors of the plurality of reference positioning devices and the distances between the plurality of reference positioning devices and the current vehicle respectively comprises:

3. The method of claim 1, wherein determining weights for a plurality of target zone overlap regions based on the weight for each of the plurality of error zones, and the first location information and the first positioning error comprises:

4. The method of claim 1, wherein said determining the second position information and the second positioning error based on the weights of the plurality of target zone overlap regions comprises:

5. A positioning device, the device comprising:

the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring first position information and a first positioning error, and the first position information and the first positioning error are obtained by positioning a current vehicle through a Global Navigation Satellite System (GNSS);

the second acquisition module is used for acquiring position information and positioning errors of a plurality of reference positioning devices through a vehicle-to-outside information exchange V2X technology, wherein the plurality of reference positioning devices comprise road side units and/or other vehicles, and the positioning errors of the plurality of reference positioning devices are all smaller than the first positioning error;

a determining module for determining distances between the respective reference positioning devices and a current vehicle by the V2X technique;

the correction module is used for correcting the first position information and the first positioning error according to the position information and the positioning errors of the plurality of reference positioning devices and the distances between the plurality of reference positioning devices and the current vehicle respectively to obtain second position information and a second positioning error, and the second position information and the second positioning error are used as the positioning information of the current vehicle;

the correction module comprises:

the first determining submodule is used for determining a plurality of error annular zones which are in one-to-one correspondence with the plurality of reference positioning devices according to the position information and the positioning errors of the plurality of reference positioning devices and the distances between the plurality of reference positioning devices and the current vehicle respectively;

an assignment sub-module for assigning a weight to each error zone of the plurality of error zones, wherein a width of an error zone is inversely proportional to the weight;

a second determining submodule, configured to determine weights of overlapping regions of a plurality of target zones according to the weight of each of the plurality of error zones, and the first position information and the first positioning error;

a third determining submodule, configured to determine the second position information and the second positioning error according to the weights of the multiple target zone overlapping areas.

6. The apparatus of claim 5, wherein the first determination submodule comprises:

a first determining unit, configured to determine, for any one of the plurality of reference positioning apparatuses, a sum of a positioning error of the any one reference positioning apparatus and a V2X error of a current vehicle, and use the obtained sum of the errors as a width of an error zone corresponding to the any one reference positioning apparatus;

7. The apparatus of claim 5, wherein the second determination submodule comprises:

a third determining unit, configured to determine an error region of the current vehicle by using a position point corresponding to the first position information as a center of a circle and the first positioning error as a radius;

a fifth determining unit configured to determine a first overlap region located within the error region among the plurality of first overlap regions as the plurality of target annulus overlap regions;

8. The apparatus of claim 5, wherein the third determination submodule comprises:

a selecting unit configured to select a plurality of second overlap regions having a weight greater than a first threshold from the plurality of target annulus overlap regions;

a seventh determining unit configured to determine, as the second position information, position information of one position point within a second overlapping area where the weight is largest;

an eighth determining unit, configured to determine the second positioning error according to the second position information, where a ratio between a first number and a total number of the plurality of second overlapping areas is greater than a second threshold, where the first number is a number of second overlapping areas in a circular area with a position point corresponding to the second position information as a center and the second positioning error as a radius.

9. A computer-readable storage medium, characterized in that a computer program is stored in the storage medium, which computer program, when being executed by a processor, carries out the steps of the method of one of the claims 1 to 4.