CN113395663A - Tunnel vehicle positioning method based on vehicle-road cooperation - Google Patents
Tunnel vehicle positioning method based on vehicle-road cooperation Download PDFInfo
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- H—ELECTRICITY
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention discloses a method for positioning vehicles in a tunnel based on vehicle-road cooperation, which is realized on the basis of a vehicle-mounted camera, a vehicle-mounted terminal, vehicle positioning mark points arranged in the tunnel and a coordinate database stored in a tunnel monitoring platform; the vehicle positioning mark points can be shot by a vehicle-mounted camera; the vehicle positioning mark points correspond to lane position information, and the positioning mark points and the corresponding lane position information are stored in the coordinate database in advance; and the vehicle-mounted terminal acquires vehicle positioning mark points through image processing, uploads the vehicle positioning mark points to the coordinate database, extracts corresponding lane position information from the coordinate database, and feeds the lane position information back to the vehicle-mounted terminal, so that the vehicle is positioned. The invention realizes the positioning of the vehicles in the tunnel by the vehicle-road cooperation technology, has simple and accurate positioning information acquisition mode and solves the problem that the traditional positioning system fails in the tunnel.
Description
Technical Field
The invention relates to a technology for positioning vehicles in a tunnel, in particular to a method for positioning vehicles in a tunnel based on vehicle-road cooperation, and belongs to the technical field of vehicle-road cooperation and vehicle positioning.
Background
With the pace of highway construction in China accelerating, especially the development of mountain expressway, the number of tunnels hasten growth sharply. The tunnel has the characteristics of narrow internal space, complex structure, strong sealing property and the like, and the shell of the long tunnel is generally composed of a mountain rock wall or reinforced concrete, so that the shielding effect on signals is very serious. With the depth of the tunnel, the positioning signal of the GNSS (Global Navigation Satellite System) gradually disappears, and accurate positioning of the vehicle cannot be realized in an effective range. For large tunnels as long as more than ten kilometers, the signal fading condition is more serious, and even no positioning signal exists at all. At present, the main vehicle driving assistance positioning technology adopts the GNSS, the image sensor, the radar and other modes to sense the vehicle position and the environmental information, the accurate positioning of the vehicle in the whole process of a tunnel region is difficult to realize under all-weather all-terrain conditions, a technical short plate and a positioning blind area exist, and the safe driving of the vehicle can be influenced to a certain extent. Gyroscopes and accelerometers on vehicles can achieve inertial positioning, but the accumulated error increases gradually over time. In order to guarantee the driving safety in the tunnel, a rapid, efficient and accurate method for positioning the vehicle in the tunnel is urgently needed.
Along with the development of camera and image recognition technology, the vehicle can more clearly discern the standard sign marking on the road at the in-process of traveling, and the tunnel can provide more road information for the vehicle through the sign marking, realizes the interaction of vehicle road developments real-time information, and the vehicle of being convenient for is fixed a position.
Disclosure of Invention
In order to solve the problems, the invention provides a tunnel vehicle positioning method based on vehicle-road cooperation, and the method can be used for solving the position information of the vehicle by utilizing the vehicle-road cooperation communication technology of the vehicle and a monitoring center under the condition that the navigation positioning signal of the vehicle in the tunnel is not good, is efficient and accurate, and is a novel method which is not proposed by people at present.
The technical scheme adopted by the invention is as follows: a tunnel vehicle positioning method based on vehicle-road cooperation is realized based on a vehicle-mounted camera, a vehicle-mounted terminal, a vehicle positioning mark point arranged in a tunnel and a coordinate database stored in a tunnel monitoring platform;
the vehicle positioning mark points can be shot by the vehicle-mounted camera;
the vehicle positioning mark points correspond to lane position information, and the vehicle positioning mark points and the corresponding lane position information are taken as data combinations and stored in the coordinate database in advance;
the vehicle-mounted terminal receives the image shot by the vehicle-mounted camera, obtains the vehicle positioning mark point after image processing, and uploads the vehicle positioning mark point to the tunnel monitoring platform;
and extracting lane position information corresponding to the vehicle positioning mark points from the coordinate database, and feeding back the lane position information to the vehicle-mounted terminal.
Furthermore, the vehicle positioning mark points are multiple and are arranged at intervals along the tunnel, and each vehicle positioning mark point has an own mark.
Further, the method for identifying the vehicle positioning mark point comprises the following steps: the vehicle positioning mark point comprises letters and Arabic numerals, wherein the letters represent lanes corresponding to the vehicle positioning mark points, and the Arabic numerals represent the number of mark points.
Furthermore, longitude and latitude elevation information corresponding to a vertical projection point of the vehicle positioning mark point on the ground is used as position information of a nearest lane at the point.
Furthermore, the vehicle positioning mark points are arranged at the tunnel ceiling corresponding to the center line of each lane.
The tunnel vehicle positioning method based on vehicle-road cooperation has the advantages that the tunnel vehicle positioning is realized in a vehicle-road information interaction mode, the positioning information acquisition mode is simple and accurate, and the problem that the traditional positioning system fails in the tunnel is solved.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention.
FIG. 1 is a schematic diagram of a vehicle location system layout in a tunnel based on vehicle-road coordination.
FIG. 2 is a bottom view of a dual lane tunnel vehicle alignment marker.
Fig. 3 is a schematic diagram of lane positions corresponding to the positioning mark points of the dual-lane tunnel vehicle.
FIG. 4 is a flow chart of vehicle alignment mark point code identification.
FIG. 5 is a flowchart of a method for locating vehicles in a tunnel based on vehicle-road coordination.
Detailed Description
The present invention is described in detail below with reference to the drawings and examples, but it should be understood by those skilled in the art that the following examples are not intended to limit the technical solutions of the present invention, and any equivalent changes or modifications made within the spirit of the technical solutions of the present invention should be considered as falling within the protection scope of the present invention.
The invention provides a vehicle positioning method in a tunnel based on vehicle-road cooperation, which is realized based on vehicle conventional infrastructures such as a vehicle-mounted camera and a vehicle-mounted terminal, vehicle positioning mark points arranged in the tunnel and a coordinate database stored in a tunnel monitoring platform, and is shown in figure 1.
Therefore, based on the vehicle positioning mark points, the vehicle-mounted camera, the vehicle-mounted terminal and the coordinate database, the vehicle positioning mark points are provided with codes and provide longitude and latitude elevation information of corresponding lanes, the longitude and latitude elevation information is stored in the coordinate database, when a vehicle passes through the tunnel, the vehicle positioning mark points are collected through the vehicle-mounted camera, the vehicle-mounted terminal analyzes the code information of the shot mark points after image processing, then the code information is uploaded to the coordinate database, the longitude and latitude elevation information corresponding to the mark points is matched by the database and then is fed back to the vehicle, the vehicle acquires the position of the vehicle, and the vehicle positioning in the tunnel is completed based on vehicle path cooperation.
1. Vehicle positioning mark point
In the embodiment, it is preferable that a plurality of vehicle positioning mark points are arranged on the tunnel ceiling at certain intervals, each vehicle positioning mark point has its own identification and eye-catching mark, and longitude and latitude elevation information corresponding to a vertical projection point on the ground of each vehicle positioning mark point is correspondingly stored in a coordinate database together with the identification of the mark point in advance, and the longitude and latitude elevation information corresponding to the vertical projection point is used for representing the longitude and latitude elevation information of a lane closest to the vertical projection point at the point.
The vehicle positioning mark point can be a signboard and is marked on a ceiling corresponding to the center line of each lane in a coding mode, one position is marked every 2-4 meters, and no mark point is arranged at the entrance of the tunnel.
The vehicle positioning mark point code is composed of letter identifiers and Arabic numerals, wherein the letter identifiers are Ai and Bi, the letter identifiers A, B … respectively represent a first lane, a second lane … from the left in the driving direction, a third lane is represented by C, and the like. The arabic numeral i represents the ith marking point of the current lane from the tunnel entrance, i is 1,2,3 … n, such as a1, a2, A3 represent the first, second, and third vehicle positioning marking points arranged along the driving direction from the tunnel entrance to the top of the first lane, and B1, B2, and B3 represent the first, second, and third vehicle positioning marking points arranged along the driving direction from the tunnel entrance to the top of the second lane. The bottom view of the mark points of the unidirectional two-lane tunnel is shown in fig. 2.
The longitude and latitude elevation information corresponding to the vehicle positioning mark points is the corresponding lane center line, and the reasons of safety, stability and the like are considered, more than 90% of road tunnels in China adopt one-way double lanes, and taking the double lanes as an example, the positions of the vehicle positioning mark points and the corresponding lane center line mark points are shown in figure 3. The information corresponding to the vehicle positioning mark points Ai is longitude and latitude elevation information of Ai points on a lane middle line, the information corresponding to the mark points Bi is longitude and latitude elevation information of Bi points on the lane middle line, and the elevation information of all the mark points is recorded in a coordinate database of the tunnel monitoring platform.
2. Vehicle-mounted camera
The vehicle-mounted camera is used as an image information acquisition tool and mainly has the functions of shooting a vehicle positioning mark point picture in a tunnel, wherein the picture contains the code of the positioning point and is transmitted to the vehicle-mounted terminal in a wired mode to identify the code of the mark point. The camera is located vehicle top central authorities, and the overhead camera shoots the tunnel ceiling, and the single only shoots the nearest mark point of distance in the current lane is gone.
3. Vehicle-mounted terminal
The main function of the vehicle-mounted terminal is to process picture information acquired by the camera, extract vehicle positioning mark point code information and perform data transmission with a coordinate database, based on a wireless communication mode of vehicle-road cooperation, the vehicle-mounted terminal transmits a shot positioning point code to the coordinate database of the tunnel monitoring platform, and the coordinate database matches longitude and latitude elevation information corresponding to the coded positioning point and transmits the longitude and latitude elevation information back to the vehicle. The working principle of the vehicle-mounted camera and the vehicle-mounted terminal is based on the recognition technology of the traffic identification marking line, the vehicle-mounted environment is oriented, the picture shot by the vehicle-mounted camera is used as input, preprocessing operations such as data format conversion, denoising and enhancement are carried out, then the characteristic is extracted to obtain a characteristic diagram, characters are recognized on the basis of the characteristic diagram, and finally the mark point coding information in the picture is output. A flowchart of the tag point code recognition performed by the in-vehicle terminal is shown in fig. 4. And uploading the output mark point coding information to a coordinate database of the tunnel monitoring platform, and receiving the returned coordinate data.
4. Coordinate database
The coordinate database is stored in the tunnel monitoring platform,and the storage, calling and sending functions of the coordinate data of the whole tunnel are taken charge. When the tunnel monitoring platform receives the mark point coding information sent by a certain vehicle, the corresponding coordinate data is matched in the coordinate database and sent to the vehicle. The monitoring centers of different tunnels all include coordinate databases in own tunnels, and the vehicles do not need to carry coordinate data in the tunnels and only need to carry out information interaction with the coordinate databases of the tunnels when passing through different tunnels, so that the current coordinates can be obtained. The coordinate database contains the contents as shown in table 1, and each positioning mark point has corresponding coordinate data, including longitude, latitude and elevation, and is used as (B)i,Li,Hi) And (4) showing.
TABLE 1 Tunnel alignment mark point coordinate database
A specific implementation process of the tunnel vehicle positioning method based on vehicle-road cooperation is shown in fig. 5:
firstly, after a vehicle enters a tunnel, a vehicle-mounted camera shoots a vehicle positioning mark point of a tunnel ceiling closest to the roof along with walking, and transmits a picture to a vehicle-mounted terminal for image processing;
secondly, after picture preprocessing, feature extraction and character recognition, the vehicle-mounted terminal extracts the coding information of the shot mark point picture and uploads the coding information to a coordinate database of a tunnel monitoring platform;
then, the coordinate database matches the received marking point coding information and extracts longitude and latitude elevation information of the corresponding point;
and finally, the coordinate database transmits the longitude and latitude elevation information of the point back to the corresponding sending vehicle, provides the absolute coordinate of the current position for the vehicle, and realizes the vehicle positioning in the tunnel through vehicle path information interaction.
Claims (5)
1. A method for positioning vehicles in a tunnel based on vehicle-road cooperation is characterized in that: the method is realized on the basis of a vehicle-mounted camera, a vehicle-mounted terminal, a vehicle positioning mark point arranged in a tunnel and a coordinate database stored in a tunnel monitoring platform;
the vehicle positioning mark points can be shot by the vehicle-mounted camera;
the vehicle positioning mark points correspond to lane position information, and the vehicle positioning mark points and the corresponding lane position information are taken as data combinations and stored in the coordinate database in advance;
the vehicle-mounted terminal receives the image shot by the vehicle-mounted camera, obtains the vehicle positioning mark point after image processing, and uploads the vehicle positioning mark point to the tunnel monitoring platform;
and extracting lane position information corresponding to the vehicle positioning mark points from the coordinate database, and feeding back the lane position information to the vehicle-mounted terminal.
2. The vehicle-road cooperation based vehicle positioning method in tunnel according to claim 1, characterized in that: the vehicle positioning mark points are multiple and arranged at intervals along the tunnel, and each vehicle positioning mark point has an own mark.
3. The vehicle-road cooperation based in-tunnel vehicle positioning method according to claim 2, characterized in that: the identification method of the vehicle positioning mark point comprises the following steps: the vehicle positioning mark point comprises letters and Arabic numerals, wherein the letters represent lanes corresponding to the vehicle positioning mark points, and the Arabic numerals represent the number of mark points.
4. The vehicle-road cooperation based vehicle positioning method in tunnel according to claim 1, characterized in that: and longitude and latitude elevation information corresponding to the vertical projection point of the vehicle positioning mark point on the ground is used as the position information of the nearest lane at the point.
5. The vehicle-road coordination based in-tunnel vehicle positioning method according to one of claims 1 to 4, characterized in that: the vehicle positioning mark points are arranged at the tunnel ceilings corresponding to the center lines of all lanes.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115092212A (en) * | 2022-07-14 | 2022-09-23 | 北京世纪东方智汇科技股份有限公司 | Method, device, equipment and medium for calibrating train track in tunnel |
| CN115749956A (en) * | 2022-11-07 | 2023-03-07 | 北京中咨华安交通科技发展有限公司 | Tunnel vehicle positioning device and method based on DSRC microwave short-range communication technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115749956A (en) * | 2022-11-07 | 2023-03-07 | 北京中咨华安交通科技发展有限公司 | Tunnel vehicle positioning device and method based on DSRC microwave short-range communication technology |
| CN115749956B (en) * | 2022-11-07 | 2024-02-23 | 北京中咨华安交通科技发展有限公司 | Device and method for positioning vehicle in tunnel based on DSRC microwave short-range communication technology |
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