CN114419746B - RSU calibration method, RSU calibration device, electronic equipment and RSU calibration system - Google Patents

RSU calibration method, RSU calibration device, electronic equipment and RSU calibration system Download PDF

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CN114419746B
CN114419746B CN202111600270.2A CN202111600270A CN114419746B CN 114419746 B CN114419746 B CN 114419746B CN 202111600270 A CN202111600270 A CN 202111600270A CN 114419746 B CN114419746 B CN 114419746B
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rsu
calibration
calibrated
obu
position information
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CN114419746A (en
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尚雪辉
张磊
刘梁梁
朱胜超
杨鹏程
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Beijing Wanji Technology Co Ltd
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Beijing Wanji Technology Co Ltd
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
    • G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
    • G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
    • G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Business, Economics & Management (AREA)
  • Finance (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the application provides an RSU calibration method, an RSU calibration device, electronic equipment and an RSU calibration system, and belongs to the technical field of ETC. The method comprises the following steps: acquiring position information at a first time and waveform characteristics of a calibration signal received by an RSU to be calibrated; the position information comprises first position information of the calibration OBU, second position information of the RSU to be calibrated and third position information of the auxiliary RSU; the calibration signal is sent by the calibration OBU to the RSU to be calibrated. And determining the position relation among the calibration OBU, the RSU to be calibrated and the auxiliary RSU according to the position information. And determining RSU calibration parameters according to the position relation and the waveform characteristics, wherein the RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and phase differences of calibration signals received by all channels of a space array antenna of the RSU to be calibrated under the virtual installation angle. The technical scheme provided by the embodiment of the application can improve the accuracy of the RSU calibration parameters and the calibration efficiency.

Description

RSU calibration method, RSU calibration device, electronic equipment and RSU calibration system
Technical Field
The application belongs to the technical field of electronic toll collection (Electronic Toll Collection, ETC), and particularly relates to a Road Side Unit (RSU) calibration method, device, electronic equipment and system.
Background
ETC systems are very widely used in highway tolling, and include RSUs, on Board Units (OBUs), and central management devices. The RSU determines the location of the OBU based on preset RSU calibration parameters and a Dedicated Short-range communication (DSRC) signal sent by the OBU. It will be appreciated that accurate RSU calibration parameters are critical to OBU positioning.
Currently, RSUs are usually calibrated manually, i.e. basic parameters required for calibrating the RSU (e.g. the position of the OBU relative to the RSU, etc.) are manually measured and the RSU calibration parameters are determined from the basic parameters. It can be understood that the manual determination of the RSU calibration parameters not only requires the traffic to be influenced by the closed lane, but also has the problems of inaccurate RSU calibration parameters and low calibration efficiency.
Disclosure of Invention
The embodiment of the application provides an RSU calibration method, an RSU calibration device, electronic equipment and an RSU calibration system, which can improve the accuracy of RSU calibration parameters and improve the calibration efficiency.
In order to solve the technical problems, the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides an RSU calibration method, including: acquiring position information at a first time and waveform characteristics of a calibration signal received by an RSU to be calibrated; the position information comprises first position information of a calibration vehicle-mounted unit OBU, second position information of an RSU to be calibrated and third position information of an auxiliary RSU; the calibration signal is sent by the calibration OBU to the RSU to be calibrated. And determining the position relation among the calibration OBU, the RSU to be calibrated and the auxiliary RSU according to the position information. And determining RSU calibration parameters according to the position relation and the waveform characteristics, wherein the RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and phase differences of calibration signals received by all channels of a space array antenna of the RSU to be calibrated under the virtual installation angle.
It should be noted that, if the difference between the time of collecting the position information and the time of receiving the calibration signal by the RSU to be calibrated is within the preset range, the time of receiving the calibration signal by the RSU to be calibrated and the position information are considered to be the same, for example, the first time.
In addition, in this embodiment, the virtual installation angle is an angle between a vertical direction and a horizontal direction of the direction of arrival of the calibration signal estimated by the RSU to be calibrated. The calibration signal may be a DSRC calibration signal or other calibration signal, the DSRC calibration signal being a calibration signal transmitted through DSRC techniques. The location information may be in the form of latitude and longitude coordinates, or in other forms. For example, the first location information may be a first latitude and longitude coordinate, the first location information may be a second latitude and longitude coordinate, and the third location information may be a third latitude and longitude coordinate.
The method provided by the embodiment of the application can automatically determine the relevant parameters required for calibrating the RSU, and generate the RSU calibration parameters according to the relevant parameters, so that the automatic measurement of a closed lane of a measurer is not needed, and the method has higher calibration accuracy and calibration efficiency.
Optionally, the method further comprises: and respectively executing the RSU calibration method shown in the first aspect at N different first times in sequence to obtain N different RSU calibration parameters. And generating an RSU calibration parameter list according to the N RSU calibration parameters.
The method provided by the embodiment of the application can continuously determine a plurality of groups of RSU calibration parameters and form an RSU calibration parameter list. Based on the RSU calibration parameter list, when the RSU is applied to the ETC system for vehicle charging, the RSU can select the most suitable RSU calibration parameter from the list in the process of positioning the OBU on the vehicle, so that the positioning accuracy of the OBU is improved.
Optionally, determining the position relationship among the calibration OBU, the RSU to be calibrated and the auxiliary RSU according to the position information includes: and determining a first distance between the calibration OBU and the RSU to be calibrated and a second distance between the calibration OBU and the auxiliary RSU according to the first position information, the second position information and the third position information. And determining the position of the calibration OBU in the lane coordinate system according to the positions of the RSU to be calibrated and the auxiliary RSU in the lane coordinate system, and the first distance and the second distance.
For example, in case that the position of the RSU to be calibrated in the xy plane in the lane coordinate system is known to be (0, 0), the first distance D between the calibration OBU and the RSU to be calibrated is determined according to the first position information, the second position information and the third position information 1 And calibrating a second distance D between the OBU and the auxiliary RSU 2 . According to D 1 And D 2 Determining the position (x 1 ,y 1 )。
Wherein x is the distance between the RSU to be calibrated and the auxiliary RSU.
Optionally, determining the RSU calibration parameter according to the position relationship and the waveform characteristic includes: determining a virtual installation angle of the RSU to be calibrated according to the position of the OBU to be calibrated in the lane coordinate system, the installation height of the RSU to be calibrated and the installation height of the OBU to be calibrated; determining a phase difference according to the waveform characteristics; and determining RSU calibration parameters, wherein the RSU calibration parameters comprise a virtual installation angle and a phase difference.
Optionally, determining the virtual installation angle of the RSU to be calibrated according to the position of the calibration OBU in the lane coordinate system, the installation height of the RSU to be calibrated, and the installation height of the calibration OBU, includes: calculating a virtual installation angle according to an angle calculation formula, wherein the angle calculation formula is as follows:
wherein θ 1 For the virtual installation angle of the RSU to be calibrated, H is the height of the RSU to be calibrated from the ground, H is the height of the OBU to be calibrated from the ground, y 1 To calibrate the y-coordinate of the OBU in the lane coordinate system.
Optionally, determining the phase difference of the calibration signal according to the waveform characteristic of the calibration signal includes: determining a waveform characteristic matrix of the calibration signal; determining an autocorrelation matrix of the waveform feature matrix; and determining the phase difference of calibration signals received by each antenna channel of the RSU to be calibrated according to the autocorrelation matrix.
Optionally, after determining the RSU calibration parameters according to the position relationship and the waveform characteristics, the method further includes: and sending RSU calibration parameters to the RSU to be calibrated.
In a second aspect, an embodiment of the present application provides an RSU calibration apparatus, including:
the information acquisition module is used for acquiring the position information at the first time and the waveform characteristics of the calibration signal received by the RSU to be calibrated; the position information comprises first position information of the calibration OBU, second position information of the RSU to be calibrated and third position information of the auxiliary RSU; the calibration signal is sent by the calibration OBU to the RSU to be calibrated.
And the first determining module is used for determining the position relation among the calibration OBU, the RSU to be calibrated and the auxiliary RSU according to the position information.
The second determining module is used for determining RSU calibration parameters according to the position relation and the waveform characteristics, wherein the RSU calibration parameters comprise virtual installation angles of RSUs to be calibrated and phase differences of calibration signals received by all channels of a space array antenna of the RSUs to be calibrated under the virtual installation angles.
In a third aspect, embodiments of the present application provide an electronic device configured to perform an RSU calibration method as shown in the first aspect above.
In a fourth aspect, an RSU calibration system according to an embodiment of the present application includes:
and the calibration OBU is used for broadcasting a calibration signal and sending first position information of the calibration OBU to the control equipment.
And the RSU to be calibrated is used for receiving the calibration signal, determining the waveform characteristic of the received calibration signal and sending the waveform characteristic and second position information of the RSU to be calibrated to the control equipment.
And the auxiliary RSU is used for sending the third position information of the auxiliary RSU to the control equipment.
And the control equipment is used for determining RSU calibration parameters according to the waveform characteristics of the calibration signals, the first position information, the second position information and the third position information. The RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and phase differences of calibration signals received by all channels of the space array antenna of the RSU to be calibrated under the virtual installation angle.
It will be appreciated that the advantages of the second to fourth aspects may be found in the relevant description of the first aspect and are not repeated here.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic architecture diagram of an ETC system provided in an embodiment of the present application.
Fig. 2 is a schematic diagram of a lane coordinate system provided in an embodiment of the present application.
Fig. 3A to 3C are schematic structural diagrams of RSU calibration systems according to different embodiments of the present application.
Fig. 4 is a schematic diagram of a common structure of an RSU to be calibrated, an auxiliary RSU and a calibration OBU provided in an embodiment of the present application.
Fig. 5 is a flowchart of an RSU calibration method provided in an embodiment of the present application.
Fig. 6 is a schematic diagram of a determination process of a virtual installation angle according to an embodiment of the present application.
Fig. 7 is a schematic diagram of an OBU positioning process provided in an embodiment of the present application.
Fig. 8 is a schematic diagram of an RSU calibration apparatus according to an embodiment of the present application.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following describes the technical scheme provided by the embodiment of the application with reference to the accompanying drawings.
In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone.
It should be understood that the terms "first," "second," and the like in the description of embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or as implying a number of technical features which are being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. Furthermore, unless otherwise indicated, the meaning of "a plurality" is two or more.
ETC systems, also known as no-parking charging systems, are very widely used in highway charging. Currently, ETC systems use DSRC techniques to charge vehicles, allowing the vehicles to remain in a driving state throughout the charging process without stopping.
Fig. 1 is a schematic architecture diagram of an ETC system provided in an embodiment of the present application. Referring to fig. 1, the ETC system includes: on Board Unit (OBU), road Side Unit (RSU) and central management device.
The OBU is usually mounted on a front windshield of a vehicle, and has vehicle identification information stored therein, and has a wireless communication function. An intelligent IC card is installed in the OBU, and the IC card can enable the OBU to realize an electronic payment function, so that the road toll of the vehicle is paid.
RSUs are usually fixed, for example on a portal or a pass bar of a toll station, or on a post beside a highway. Taking a toll station as an example, an RSU is disposed on each ETC lane of the toll station. The RSU is typically equipped with a spatial array antenna (simply referred to as an array antenna) by which the RSU can determine the location of the OBU in the lane coordinate system. Each lane corresponds to a lane coordinate system. Exemplary, referring to FIG. 2, the lane coordinate system is shown on the X-axis (i.e., X p ) Horizontal and perpendicular to the lane-passing direction, the Y-axis (i.e., Y p ) Opposite to the traffic direction of the lane, the Z-axis (i.e. Z p ) Vertical. In some embodiments, the RSU is located at the (0, z) coordinates of the lane coordinate system, z being the RSU distanceHeight from ground.
The central management apparatus is provided with a database in which a large number of basic information (such as license plate number, vehicle model number) and user information (deduction account signed by the user, user name, contact information, history bill, etc.) of registered vehicles are stored.
During operation of the ETC system, the RSU continually broadcasts an interrogation signal that the OBU receives as the vehicle on which it is installed passes through the toll gate and sends a response signal to the RSU via DSRC techniques. Since there may be multiple OBUs simultaneously within the toll booth. Thus, for an RSU, it may receive DSRC calibration signals from multiple OBUs after broadcasting the interrogation signal. Therefore, the RSU needs to locate the OBU according to the received DSRC signal, and determine the target OBU within the preset range of the RSU.
For example, the RSU may receive DSRC signals using a spatial array antenna and determine the direction of arrival of the DSRC signals using a direction of arrival estimation (Direction of Arrival, DOA) technique and a digital beam forming (Digital Beam Forming, DBF) technique based on the waveform characteristics of the DSRC signals received by the various channels in the spatial array antenna. And then, the RSU can determine the position of the OBU under the lane coordinate system according to the direction of arrival of the DSRC signal, the RSU calibration parameters, RSU installation information (such as the installation height of the RSU) and OBU installation information (such as the installation height of the OBU), and the OBU positioning is completed.
After determining the target OBU, the RSU performs bidirectional communication and data interaction with the target OBU. For example, the OBU sends vehicle identification information (such as license plate number, entrance identifier, exit identifier, etc.) to the RSU, which then sends the RSU to the central management device, which deducts the road fee that should be paid for this time from the contracted account of the vehicle according to the vehicle identification information.
Based on the above description, the accurate positioning of the OBU by the RSU is critical in the working process of the ETC system, and in order to accurately position the OBU in the lane coordinate system, the RSU needs a set of accurate RSU calibration parameters.
RSU calibration parameters can be determined by calibrating the RSU. At present, RSU calibration is usually performed manually. However, in the process, the lane needs to be closed, and the position of the OBU in the lane coordinate system is manually measured, so that traffic is influenced, and the RSU calibration parameters are inaccurate and low in efficiency possibly caused by manual measurement.
Therefore, the embodiment of the application provides an RSU calibration method, an RSU calibration device, electronic equipment and an RSU calibration system. The technical scheme provided by the embodiment of the application can combine the DSRC calibration signal with the position information of each device based on the high-precision positioning performance of the global positioning system, automatically calibrate the RSU, and can quickly and accurately determine the RSU calibration parameters.
Fig. 3A to 3C are schematic structural diagrams of RSU calibration systems according to different embodiments of the present application. The RSU calibration system comprises: RSU to be calibrated, auxiliary RSU, OBU to be calibrated and control equipment.
In some embodiments, such as shown in fig. 3A and 3B, the control device is a separate device from the RSU to be calibrated, the auxiliary RSU, and the calibration OBU, which devices are capable of communicating with each other through DSRC technology or a wireless network. For example, in the system shown in fig. 3A, the RSU to be calibrated, the auxiliary RSU, and the control device communicate through a wireless network, and the calibration OBU and the RSU to be calibrated, and the calibration OBU and the auxiliary RSU communicate through DSRC technology. For another example, in the system shown in fig. 3B, the RSU to be calibrated, the auxiliary RSU, and the calibration OBU not only can control the device to communicate through the wireless network, but also can communicate between the calibration OBU and the RSU to be calibrated and the auxiliary RSU through DSRC technology.
In other embodiments, the control device may be integrated as a control module in the RSU to be calibrated, the auxiliary RSU or the calibration OBU. Taking the control device as the control module to be integrated in the RSU to be calibrated as an example, referring to fig. 3C, the calibration OBU may communicate with the RSU to be calibrated and the auxiliary RSU through DSRC technology, and the RSU to be calibrated and the auxiliary RSU may communicate through a wireless network.
The RSU to be calibrated is usually fixedly arranged on a portal frame or an L-shaped rod of a lane, and has the functions of acquiring longitude and latitude coordinates and receiving DSRC calibration signals. In some embodiments, the RSU to be calibrated may be set at the (0, H) position of the lane coordinate system, H being a known value.
The position relationship between the auxiliary RSU and the RSU to be calibrated is usually determined, for example, when the coordinates of the RSU to be calibrated are (0, h), the coordinates of the auxiliary RSU are (X, 0, h), that is, the distance between the RSU to be calibrated and the auxiliary RSU along the X-axis of the lane coordinate system is X. The auxiliary RSU can acquire longitude and latitude coordinates of the auxiliary RSU and receive a DSRC calibration signal sent by the calibration OBU.
The OBU is calibrated and is usually mounted on the front windshield of the vehicle. Compared with the common OBU, the calibration OBU has the function of calibrating the RSU, and particularly comprises the function of acquiring longitude and latitude coordinates, the function of receiving a calibration instruction sent by the RSU to be calibrated and the function of broadcasting a DSRC calibration signal.
Illustratively, referring to FIG. 4, the RSU to be calibrated, the auxiliary RSU, and the calibration OBU each include a communication module, a processor, a positioning module, a DSRC receiving module, and a DSRC transmitting module. The communication module is used for carrying out wireless communication. The processor is used for managing the communication module, the positioning module, the DSRC receiving module and the DSRC transmitting module and performing relevant data processing. The positioning module is used for acquiring longitude and latitude coordinates of the device, and the positioning module can be a Beidou satellite navigation system (BeiDou Navigation Satellite System, BDS) module or a global positioning system (Global Positioning System, GPS) positioning module, which is not limited in this embodiment. The DSRC receiving module is configured to receive DSRC signals (including DSRC calibration signals) transmitted by other devices. The DSRC transmission module is configured to transmit DSRC signals to other devices. For the DSRC transmitting module in the calibration OBU, the DSRC signal capable of being transmitted comprises a DSRC calibration signal, and neither the RSU to be calibrated nor the auxiliary RSU can transmit the DSRC calibration signal.
And the control equipment is used for calibrating the RSU according to calibration related data such as the RSU to be calibrated, the auxiliary RSU, the calibration OBU, the DSRC calibration signal and the like, namely determining the RSU calibration parameters.
Based on the RSU calibration system provided in any one of the embodiments of the present application, this embodiment further provides an RSU calibration method, which is specifically shown below.
Fig. 5 is a flowchart of an RSU calibration method provided in the embodiment of the present application, which relates to a process of calibrating an RSU by an RSU calibration system according to latitude and longitude coordinates of each device and a DSRC calibration signal, and specifically includes the following steps S501 to S507.
S501, after the OBU, the RSU to be calibrated and the auxiliary RSU enter a calibration mode, the longitude and latitude coordinates of each are obtained at fixed time.
In this embodiment, the calibration OBU, the RSU to be calibrated, and the auxiliary RSU may enter the calibration mode according to the user instruction, and the sequence of entering the calibration mode by each device is not limited in this embodiment. In the calibration mode, the positioning modules in the OBU, the RSU to be calibrated and the auxiliary RSU all acquire the longitude and latitude coordinates of the positioning modules at regular time, for example, the longitude and latitude coordinates are acquired once every 100 ms.
Optionally, because the positions of the RSU to be calibrated and the auxiliary RSU are fixed, the RSU to be calibrated and the auxiliary RSU to be calibrated can acquire longitude and latitude coordinates once after entering the calibration mode.
It should be noted that, in this embodiment, the longitude and latitude coordinates of the calibration OBU are referred to as first longitude and latitude coordinates, the longitude and latitude coordinates of the RSU to be calibrated are referred to as second longitude and latitude coordinates, and the longitude and latitude coordinates of the auxiliary RSU are referred to as third longitude and latitude coordinates.
S502, broadcasting a wake-up instruction by the RSU to be calibrated, wherein the wake-up instruction is used for waking up the OBU to be calibrated to send a DSRC calibration signal and a first longitude and latitude coordinate. In this embodiment, the wake-up instruction may also be referred to as a wake-up data frame.
S503, after the calibration OBU receives the wake-up instruction, broadcasting a DSRC calibration signal through a DSRC technology at preset intervals, and sending a first longitude and latitude coordinate of the calibration OBU at the current moment to the control equipment.
The calibration OBU can send the first longitude and latitude coordinates and the DSRC calibration signal to the RSU to be calibrated together through the DSRC technology, and the RSU to be calibrated forwards the first longitude and latitude coordinates and the DSRC calibration signal to the control equipment. Alternatively, the calibrated OBU may send the first longitude and latitude coordinates directly to the control device via the wireless network.
S504, after receiving the DSRC calibration signal, the RSU to be calibrated sends the second longitude and latitude coordinates and the waveform characteristics of the DSRC calibration signal to the control equipment.
It should be noted that, if the control device is integrated in the RSU to be calibrated in the form of a control module, the RSU sends the second longitude and latitude coordinates and the waveform characteristics of the DSRC calibration signal to the local control module after receiving the DSRC calibration signal.
It should be appreciated that since the RSU to be calibrated is fixedly installed near the lane, the second longitude and latitude coordinates of the RSU to be calibrated are generally fixedly determined during the RSU calibration process. Therefore, in some embodiments, during the calibration process, the RSU to be calibrated may only send the second longitude and latitude coordinates to the control device once. The control device receives the second latitude and longitude coordinates and stores the second latitude and longitude coordinates locally so as to be directly called in the subsequent use process.
In other embodiments, the RSU to be calibrated sends the second latitude and longitude coordinates to the control device together with the waveform characteristics of the DSRC calibration signal after each time the DSRC calibration signal is received, so as to avoid the process of the control device locally searching and calling the second latitude and longitude coordinates.
Optionally, after broadcasting the wake-up instruction, the RSU to be calibrated automatically exits the calibration mode if the DSRC calibration signal is not received within a preset time (e.g., within 10 minutes). Or, the RSU to be calibrated can also exit the calibration mode according to the user instruction.
S505, the auxiliary RSU transmits the third longitude and latitude coordinates to the control device after receiving the DSRC calibration signal.
It will be appreciated that since the auxiliary RSU is also fixedly mounted near the roadway, the third latitude and longitude coordinates of the auxiliary RSU are typically fixed during the RSU calibration process. Thus, in some embodiments, during this calibration procedure, the auxiliary RSU sends the third latitude and longitude coordinates to the control device only after the DSRC calibration signal is first received. After receiving the third longitude and latitude coordinates, the control device stores the third longitude and latitude coordinates locally so as to be directly called in the subsequent use process.
In other embodiments, the RSU to be calibrated may send the third latitude and longitude coordinates to the control device once again after receiving the DSRC calibration signal each time, so as to avoid the process of the control device searching and calling the third latitude and longitude coordinates locally.
Optionally, the auxiliary RSU automatically exits the calibration mode after broadcasting the wake-up data frame if it does not receive the DSRC calibration signal within a preset time (e.g., within 10 minutes). Or, the RSU to be calibrated can also exit the calibration mode according to the user instruction.
S506, the control equipment calculates calibration parameters of the RSU to be calibrated according to the received calibration related data, wherein the calibration related data comprises a first longitude and latitude coordinate, a second longitude and latitude coordinate, a third longitude and latitude coordinate and waveform characteristics of DSRC calibration signals.
In this embodiment, the first longitude and latitude coordinates of the OBU are calibrated (OBULonA, OBULatA), the second longitude and latitude coordinates of the RSU to be calibrated (RSULonA, RSULatA), and the third longitude and latitude coordinates of the auxiliary RSU (ASLonA, ASLatA).
It should be noted that when the OBU is at a different position in the lane coordinate system, the angle at which the DSRC calibration signal transmitted by the OBU reaches the RSU is different. Accordingly, the DSRC calibration signals received by the spatial array antennas of the RSU are not identical in waveform characteristics. For example, for DSRC calibration signals transmitted by the OBU at different locations, the Phase differences Phase of the DSRC calibration signals received by the RSU are different. It will thus be appreciated that different OBU positions correspond to different RSU calibration parameters.
T is as follows 1 For example, the calibration procedure of the control device RSU will be described by way of example, and the procedure includes the following contents (1) to (3):
(1) The control device determines the position (x 1 ，y 1 )。
Since the positions of the RSU to be calibrated and the auxiliary RSU in the lane coordinate system are known, (0, h) and (x, 0, h), respectively. Neglecting the problem that the heights of the RSU to be calibrated and the auxiliary RSU are inconsistent with the scale OBU, the control equipment can convert the first longitude and latitude coordinate of the calibrated OBU into the coordinate under the lane coordinate system according to the positions of the RSU to be calibrated and the auxiliary RSU under the lane coordinate system, the second longitude and latitude coordinate and the third longitude and latitude coordinate. Specifically, the following is shown.
Firstly, the control equipment calculates a first distance D of a calibrated OBU from an RSU to be calibrated according to a longitude and latitude calculation distance formula 1 And calibrating a second distance D of the OBU from the auxiliary RSU 2 。
First distance D 1 Is determined by the following formula:
D 1 ＝R*Arccos(C 1 )*Pi/180
wherein C is 1 =sin (obulosa) ×sin (rsulosa) ×cos (OBULonA-RSULonA) +cos (OBULonA) ×cos (rsulosa), R is the earth radius, and Pi is Pi.
Second distance D 2 Is determined by the following formula:
D 2 ＝R*Arccos(C 2 )*Pi/180
wherein C is 2 =sin (obulta) ×sin (ASLatA) ×cos (OBULonA-Alslon a) +cos (OBULona) ×cos (ASLatA), R is the earth radius, and Pi is Pi.
Second, the control device is according to D 1 And D 2 And determining coordinates of the calibrated OBU in a lane coordinate system.
In the case where only the positions of the respective devices in the XY plane of the lane coordinate system are considered, the coordinates of the RSU to be calibrated are known as (0, 0), the coordinates of the auxiliary RSU are known as (x, 0), and the coordinates of the calibration OBU to be calculated are assumed to be (x 1 ,y 1 ) And (3) representing. Then it can be seen in connection with fig. 6 that the distance D of the OBU to the RSU device to be calibrated is calibrated 1 And calibrating the distance D from the OBU to the auxiliary RSU 2 The following calculation formula is satisfied:
solving the above formula to obtain x 1 And y 1 To determine the coordinates (x 1 ,y 1 )。
It should be understood that the control device may calculate the positions of the calibrated OBU in the lane coordinate system at different times according to the longitude and latitude coordinates of the calibrated OBU at different times.
(2) The control device determines the Phase difference Phase of each channel of the space array antenna of the RSU according to the waveform characteristics of the DSRC calibration signal.
The space array antenna is arranged in the RSU to be calibrated, and the RSU to be calibrated can receive DSRC calibration signals broadcasted by the OBU to be calibrated by utilizing a plurality of antenna channels through the digital acquisition function of the space array antenna. Since the individual elements of a space array antenna are spatially diverse in their position within the antenna, these individual elements typically correspond to multiple antenna channels. Thus, the waveform characteristics of DSRC calibration signals received by the RSU to be calibrated through the plurality of antenna channels are different, including phase, amplitude, etc.
The waveforms of the DSRC calibration signals that the control device may acquire at different times for the respective antenna channels may be represented by the following matrix x.
Wherein m is the channel number of the space array antenna, and n is the channel number for T i The number of samples of the DSRC calibration signal at the time instant. For example, x 11 Waveform information of a DSRC calibration signal acquired for a first sampling point of a first antenna channel. X is x 45 Waveform information of the DSRC calibration signal acquired for the fifth sample point of the fourth antenna channel.
The control device performs cross-correlation operation on the DSRC calibration signal matrix x to obtain an autocorrelation matrix Rxx.
Rxx＝x*x′
Wherein Rxx is a complex matrix of m x m. That is, rxx may also be expressed as follows:
the control device can determine the Phase difference Phase of the DSRC calibration signals received by each antenna channel of the RSU to be calibrated according to the autocorrelation matrix Rxx.
Phase＝{angle 1 ，angle 2 ，angle 3 ……angle m }
In Phase difference Phase, the first channel is used as a reference channel, angle i Representing the phase difference of the DSRC calibration signal for the ith channel and the DSRC calibration signal for the first channel of the spatial array antenna. For example angle 1 Representing the phase difference of the DSRC calibration signal for the 1 st lane and the DSRC calibration signal for the 1 st lane, it should be understood that angle 1 =0. Also for example angle 3 A phase difference of the DSRC calibration signal of the 3 rd channel and the DSRC calibration signal of the 1 st channel is represented.
The complex form of the Phase difference Phase is as follows:
Phase＝{1，a 2 +b 2 i，a 3 +b 3 i，……a m +b m i}
after the control device performs Phase compensation on the autocorrelation matrix Rxx according to the Phase difference Phase, a compensated autocorrelation matrix Rxx' can be obtained.
Rxx′＝Rxx*(Phase*Phase′)′
In the autocorrelation matrix Rxx ' (Phase x Phase ') ' is as follows:
thus, the first and second substrates are bonded together,
for the autocorrelation matrix Rxx 'after phase compensation, when the control device performs direction of arrival estimation (DOA) on the autocorrelation matrix Rxx', the angle of the located signal direction is 90 degrees, that is, the signal direction is the same as the normal direction of the antenna array, and the beam gain of each antenna is the largest.
(3) The control equipment determines the calibration parameters of the RSU to be calibrated.
In this embodiment, the RSU calibration parameters include a virtual installation angle, and a phase difference when the spatial array antenna of the RSU receives the DSRC calibration signal at the virtual installation angle.
Based on the 90 degrees of the maximum gain direction of the beam, the coordinates (x 1 ，y 1 ) The installation height H of the space array antenna (namely the installation height z of the RSU to be calibrated) is used for calibrating the installation height H of the OBU, and the RSU to be calibrated relative to a lane coordinate system (x) 1 ，y 1 ) Virtual installation angle θ of (2) 1 。
When the direction of arrival of the DSRC calibration signal is 90 °, as shown in fig. 6, the vertical direction of the direction of arrival of the DSRC calibration signal is considered to be the direction in which the antenna plane of the space array antenna is located. Based on the above, the virtual installation angle is the included angle between the plane of the antenna and the horizontal direction.
For calibrating OBU at T 1 Position of time (x 1 ,y 1 ) The RSU calibration parameters determined by the control equipment are as follows: θ 1 And { angle } 11 ,angle 12 ,angle 13 ,…,angle 1m }。
Since the calibration OBU gradually moves close to the RSU to be calibrated after entering the calibration area, the OBU to be calibrated is started at each data acquisition time T i Is different. Thus, forThe control device may determine a set of RSU calibration parameters to form an RSU calibration parameter list (see fig. 1 for details) by calibrating the position of the OBU at each data acquisition time and by calibrating the DSRC calibration signal transmitted by the OBU and received by the RSU to be calibrated.
Table 1RSU calibration parameter list
In Table 1, n is an integer, and n.gtoreq.1. That is, the control device at each data acquisition time T i And according to the coordinate information of the calibration OBU, the RSU to be calibrated and the auxiliary RSU and the DSRC calibration signal acquired by the RSU to be calibrated, at least one group of RSU calibration parameters can be calibrated.
S507, the control equipment sends RSU calibration parameters to the RSU to be calibrated.
In this embodiment, the control device may send each set of RSU calibration parameters to the RSU to be calibrated immediately after determining the set of parameters; it is also possible to send all RSU calibration parameters together to the RSU to be calibrated after determining all RSU calibration parameters, which is not limited in this embodiment.
Through the steps S501-S507, the RSU calibration system provided by the embodiment of the application can automatically determine the RSU calibration parameters, and compared with the RSU calibration of a closed lane by manual work, the RSU calibration system is more convenient and efficient in RSU calibration.
In the ETC system, the RSU which finishes calibration can accurately determine the position of the OBU in the lane coordinate system according to the RSU calibration parameters. This is described in detail below with reference to fig. 7.
Fig. 7 is a schematic diagram of an OBU positioning process provided in an embodiment of the present application, which relates to a process of determining a position of an OBU in a lane coordinate system by combining a calibrated RSU with a received DSRC calibration signal, and specifically includes the following steps S701 to S706.
S701, the RSU broadcasts an interrogation signal.
S702, the OBU receives an interrogation signal.
S703, the OBU sends a DSRC calibration signal to the RSU.
S704, the RSU determines target RSU calibration parameters from a preset RSU calibration parameter list according to waveform characteristics of the received DSRC calibration signals. The RSU calibration parameter list comprises a plurality of groups of RSU calibration parameters.
For the DSRC calibration signal sent by the OBU, the waveform characteristic of the DSRC calibration signal received by the RSU is Xr.
In Xr, m is the number of channels of the space array antenna in the RSU, and n is the number of sampling points for the DSRC calibration signal per channel.
Performing cross-correlation operation on the signals Xr to obtain a cross-correlation matrix Rxx r 。
The space array antenna of the RSU comprises m channels, the channel 1 is taken as a reference channel, and the Phase difference of each channel of the space array antenna is Phase r 。
Phase r ＝{0,angle 12r ,angle 13r ,…,angle 1mr }
Phase difference Phase of Xr r Performing correlation calculation with each Phase difference Phase in the RSU calibration parameter list to obtain a correlation result:in the correlation result +.>Representing Phase r Correlation with the ith Phase difference Phase in RSU calibration parameter list, i E N * 。
RSUs will generallyAnd determining the RSU calibration parameter corresponding to the maximum value in the (2) as a target RSU calibration parameter. To->The largest value of (2) is +.>For example, the target RSU calibration parameter is the target phase difference { angle } k1 ,angle k2 ,angle k3 ,…,angle km And target virtual installation angle θ k 。
S705, the RSU determines the incidence angle theta of the DSRC calibration signal according to the target Phase difference Phase in the target RSU calibration parameters.
In this embodiment, the incidence angle θ' of the DSRC calibration signal refers to the angle between the incidence direction of the DSRC calibration signal and the surface of the spatial array antenna of the RSU. The specific determination of the incident angle θ' is as follows.
First, the RSU performs Phase compensation on the waveform of the received DSRC calibration signal according to the target Phase difference Phase. With the target Phase difference being Phase i ＝{0,angle 12i ,angle 13i ,…,angle 1mi For example, the DSRC calibration signal after compensating according to the target phase difference is:
Rxx r '＝Rxx r *(Phase k '*Phase k )'
subsequently, a power spectrum of the DSRC calibration signal is determined from the weight vector of the DSRC calibration signal. In this embodiment, the weight vector of the DSRC calibration signal is
Where λ is the wavelength of the DSRC calibration signal, d is the distance between adjacent antennas in the spatial array antennas of the RSU, θ S Is the scan angle. The spatial array antenna is constantly changing in scanning the DSRC calibration signal.
In this embodiment, the DSRC calibration signal has a power spectrum ofWherein,is->Is a complex matrix of the matrix.
Finally, the incidence angle θ is determined from the power spectrum of the DSRC calibration signal. In the present embodiment, the power spectrumCorresponding to θ of maximum value of (2) s The incidence angle theta of the DSRC calibration signal. θ may be expressed as (θ x ,θ y ) Wherein θ x Theta is the component of theta in the X-axis direction in the lane coordinate system y Is the component of θ in the Y-axis direction in the lane coordinate system.
S706, the RSU determines the position of the OBU in the lane coordinate system according to the target virtual installation angle and the incidence angle of the DSRC calibration signal.
Let the coordinates of the OBU in the lane coordinate system be (x, y, h), where h is the mounting height of the OBU, and h is known, the determination of (x, y, h) is described below.
The DSRC calibration signal received by the space array antenna of the RSU can be expressed by a transverse array and a longitudinal array, wherein the unit component of the transverse array is V x And a longitudinal array unit component V y Is as follows:
V x ＝[1,0,0]
V y ＝[0,cos(θ)0,sin(θ)]
the incident angle satisfies the following relationship:
and solving the equation set to obtain the coordinates x and y of the OBU under the lane coordinate system, thereby determining the coordinates (x, y, h) of the OBU under the lane coordinate system.
Based on the RSU calibration method provided by each embodiment, the embodiment of the application also provides the following technical scheme.
Fig. 8 is a schematic diagram of an RSU calibration apparatus according to an embodiment of the present application. Referring to fig. 8, the apparatus includes an information acquisition module 801, a first determination module 802, and a second determination module 803.
The information acquisition module 801 is configured to acquire position information at a first time and waveform characteristics of a calibration signal received by an RSU to be calibrated; the position information comprises a first longitude and latitude of an OBU (on board unit), a second longitude and latitude of an RSU to be calibrated and a third longitude and latitude of an auxiliary RSU; the calibration signal is sent by the calibration OBU to the RSU to be calibrated.
A first determining module 802 is configured to determine a positional relationship among the calibration OBU, the RSU to be calibrated, and the auxiliary RSU according to the positional information.
The second determining module 803 is configured to determine RSU calibration parameters according to the position relationship and the waveform characteristics, where the RSU calibration parameters include a virtual installation angle of the RSU to be calibrated, and phase differences of calibration signals received by each channel of the spatial array antenna of the RSU to be calibrated under the virtual installation angle.
Optionally, the first determining module 802 is configured to determine, according to the location information, a location relationship among the calibration OBU, the RSU to be calibrated, and the auxiliary RSU, and includes: and the device is used for determining a first distance between the calibration OBU and the RSU to be calibrated and a second distance between the calibration OBU and the auxiliary RSU according to the first position information, the second position information and the third position information. And determining the position of the calibration OBU in the lane coordinate system according to the positions of the RSU to be calibrated and the auxiliary RSU in the lane coordinate system, and the first distance and the second distance.
Optionally, the second determining module 803 is configured to determine RSU calibration parameters according to the position relationship and the waveform characteristics, and includes: the virtual installation angle of the RSU to be calibrated is determined according to the position of the OBU to be calibrated in the lane coordinate system, the installation height of the RSU to be calibrated and the installation height of the OBU to be calibrated; determining a phase difference according to the waveform characteristics; and determining RSU calibration parameters, wherein the RSU calibration parameters comprise a virtual installation angle and a phase difference.
Optionally, the second determining module 803 is configured to determine a virtual installation angle of the RSU to be calibrated according to the position of the calibration OBU in the lane coordinate system, the installation height of the RSU to be calibrated, and the installation height of the calibration OBU, and includes: for calculating a virtual installation angle according to an angle calculation formula.
The angle calculation formula is as follows:
wherein θ 1 For the virtual installation angle of the RSU to be calibrated, H is the height of the RSU to be calibrated from the ground, H is the height of the OBU to be calibrated from the ground, y 1 To calibrate the y-coordinate of the OBU in the lane coordinate system.
Optionally, the second determining module 803 is configured to determine a phase difference of the calibration signal according to a waveform characteristic of the calibration signal, and includes: the waveform characteristic matrix is used for determining a calibration signal; determining an autocorrelation matrix of the waveform feature matrix; and determining the phase difference of calibration signals received by each antenna channel of the RSU to be calibrated according to the autocorrelation matrix.
Optionally, the apparatus further includes a parameter sending module 804, configured to send the RSU calibration parameter to the RSU to be calibrated after the second determining module 803 determines the RSU calibration parameter.
An embodiment of the present application further provides an electronic device, as shown in fig. 9, where the electronic device includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the RSU calibration method shown in each embodiment above is implemented.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," and the like in various places throughout this specification are not necessarily all referring to the same embodiment, but mean "one or more, but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

1. The method for calibrating the RSU of the road side unit is characterized by comprising the following steps of:
acquiring position information at a first time and waveform characteristics of a calibration signal received by an RSU to be calibrated; the position information comprises first position information for calibrating the OBU, second position information for the RSU to be calibrated and third position information for the auxiliary RSU; the calibration signal is sent by the calibration OBU to the RSU to be calibrated;
determining the position relation among the calibration OBU, the RSU to be calibrated and the auxiliary RSU according to the position information;
and determining RSU calibration parameters according to the position relation and the waveform characteristics, wherein the RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and phase differences of calibration signals received by all channels of a space array antenna of the RSU to be calibrated under the virtual installation angle.
2. The method according to claim 1, wherein the method further comprises:
in the process that the calibration OBU gradually approaches to the RSU to be calibrated, respectively executing the method of claim 1 at N different first times in sequence to obtain N different RSU calibration parameters;
and generating an RSU calibration parameter list according to the N RSU calibration parameters.
3. Method according to claim 1 or 2, characterized in that determining the positional relationship between the calibrating OBU, the RSU to be calibrated and the auxiliary RSU from the positional information comprises:
determining a first distance between the calibration OBU and the RSU to be calibrated and a second distance between the calibration OBU and the auxiliary RSU according to the first position information, the second position information and the third position information;
and determining the position of the calibration OBU in the lane coordinate system according to the positions of the RSU to be calibrated and the auxiliary RSU in the lane coordinate system and the first distance and the second distance.
4. A method according to claim 3, wherein determining RSU calibration parameters from the positional relationship and the waveform characteristics comprises:
determining a virtual installation angle of the RSU to be calibrated according to the position of the OBU to be calibrated in a lane coordinate system, the installation height of the RSU to be calibrated and the installation height of the OBU to be calibrated;
determining the phase difference according to the waveform characteristics;
and determining the RSU calibration parameters, wherein the RSU calibration parameters comprise the virtual installation angle and the phase difference.
5. The method of claim 4, wherein determining the virtual installation angle of the RSU to be calibrated based on the location of the calibration OBU in the lane coordinate system, the installation height of the RSU to be calibrated, and the installation height of the calibration OBU comprises:
calculating the virtual installation angle according to an angle calculation formula, wherein the angle calculation formula is as follows:
wherein θ 1 For the virtual installation angle of the RSU to be calibrated, H is the height of the RSU to be calibrated from the ground, H is the height of the OBU to be calibrated from the ground, y 1 And (3) calibrating the y coordinate of the OBU in the lane coordinate system for the calibration.
6. The method of claim 4, wherein determining the phase difference of the calibration signal based on the waveform characteristics of the calibration signal comprises:
determining a waveform characteristic matrix of the calibration signal;
determining an autocorrelation matrix of the waveform feature matrix;
and determining the phase difference of the calibration signals received by each antenna channel of the RSU to be calibrated according to the autocorrelation matrix.
7. The method according to any one of claims 1-6, wherein after determining RSU calibration parameters from the positional relationship and the waveform characteristics, the method further comprises:
and sending the RSU calibration parameters to the RSU to be calibrated.
8. A road side unit RSU calibration apparatus, comprising:
the information acquisition module is used for acquiring the position information at the first time and the waveform characteristics of the calibration signal received by the RSU to be calibrated; the position information comprises first position information for calibrating the OBU, second position information for the RSU to be calibrated and third position information for the auxiliary RSU; the calibration signal is sent by the calibration OBU to the RSU to be calibrated;
the first determining module is used for determining the position relation among the calibration OBU, the RSU to be calibrated and the auxiliary RSU according to the position information;
and the second determining module is used for determining RSU calibration parameters according to the position relation and the waveform characteristics, wherein the RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and phase differences of calibration signals received by all channels of a space array antenna of the RSU to be calibrated under the virtual installation angle.
9. An electronic device, characterized in that the electronic device is configured to perform the road side unit RSU calibration method according to any one of claims 1-7.
10. A roadside unit RSU calibration system, comprising:
the system comprises a calibration OBU, a control device and a control device, wherein the calibration OBU is used for broadcasting a calibration signal and sending first position information of the calibration OBU to the control device;
the RSU to be calibrated is used for receiving the calibration signal, determining the waveform characteristic of the received calibration signal and sending the waveform characteristic and second position information of the RSU to be calibrated to the control equipment;
an auxiliary RSU for transmitting third location information of the auxiliary RSU to the control device;
the control device is used for determining RSU calibration parameters according to the waveform characteristics, the first position information, the second position information and the third position information; the RSU calibration parameters comprise a virtual installation angle of the RSU to be calibrated and phase differences of the calibration signals received by all channels of the space array antenna of the RSU to be calibrated under the virtual installation angle.
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