WO2022001921A1

WO2022001921A1 - Positioning method and apparatus, and electronic device

Info

Publication number: WO2022001921A1
Application number: PCT/CN2021/102640
Authority: WO
Inventors: 苏志伟; 陈亮
Original assignee: 华为技术有限公司
Priority date: 2020-07-03
Filing date: 2021-06-28
Publication date: 2022-01-06
Also published as: CN113965872A

Abstract

Provided are a positioning method and apparatus, and an electronic device, which relate to the technical field of the Internet of Vehicles. The method comprises: a first roadside unit and other roadside units from among a plurality of roadside units synchronously sending a data frame, wherein the data frame comprises positioning information, such that a passing vehicle-mounted terminal determines the current position of a vehicle according to the positioning information, and the positioning information comprises position information of the roadside unit that sends the data frame. Positioning information required by a vehicle directly comes from a roadside unit, and the vehicle can directly communicate with the roadside unit, and therefore, when the GNSS signal strength of a road section on which the vehicle travels is relatively poor (e.g. in a tunnel, a garage, etc.), the positioning accuracy for the vehicle can also meet requirements, thereby improving the positioning accuracy for vehicles in an area where the GNSS signal strength is relatively poor.

Description

Positioning method, device and electronic device

This application claims the priority of the Chinese patent application with the application number 202010632322.3 and the application title "Positioning Method, Apparatus and Electronic Equipment" submitted to the State Intellectual Property Office of China on July 3, 2020, the entire contents of which are incorporated herein by reference Applying.

technical field

The present application relates to the technical field of Internet of Vehicles, and in particular, to a positioning method, device and electronic device.

Background technique

In recent years, with the continuous advancement of technology, vehicle wireless communication technology (long term evolution-vehicle to everything, LTE-V2X) has been gradually applied in life. The positioning accuracy of the position in V2X applications often needs to reach the meter level; in autonomous driving technology, the positioning accuracy is higher, generally requiring sub-meter level or even centimeter level.

In the related art, differential positioning technology (differential global position system, DGPS) is often used for positioning. A global navigation satellite system (GNSS) receiver is used to observe at the base station to receive the signal sent by the satellite; after that, the GNSS receiver calculates the distance correction from the base station to the satellite, and transmits it through the network. broadcast. When the vehicles near the base station are positioned by GNSS, the distance correction number broadcast by the base station is also calculated, and the result after GNSS positioning is corrected to obtain the final positioning result.

However, this positioning technology can meet the requirements of positioning accuracy (such as sub-meter level) in scenes with good GNSS signals such as highways and suburban open spaces, while in dense urban scenes with serious occlusion, tunnels, garages and other environments with poor GNSS signals , it cannot meet the requirements of positioning accuracy.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a positioning method, device, and electronic device, which can meet the precision requirements for positioning a vehicle.

In a first aspect, an embodiment of the present application provides a positioning method, which is applied to a first roadside unit, where the first roadside unit is one of a plurality of roadside units arranged at intervals, and the method includes:

The first roadside unit sends a data frame synchronously with other roadside units in the plurality of roadside units, and the data frame includes positioning information, so that the passing vehicle terminal can determine the current position of the vehicle according to the positioning information;

Wherein, the location information includes location information of the roadside unit that sends the data frame.

In a possible implementation manner, the data frame further includes vehicle networking information, and the vehicle networking information and positioning information are carried in a time-division multiplexing manner.

In a possible implementation manner, a bitmap in the data frame, the bitmap indicates that at least one subframe to which the bit is mapped carries positioning information, and indicates at least one subframe in the remaining subframes to which the bit is mapped The frame carries the Internet of Vehicles information.

In a possible implementation manner, at least one symbol of the subframe in the data frame carries positioning information, and at least one symbol of the remaining symbols of the subframe carries the Internet of Vehicles information.

In a possible implementation manner, the GNSS signal strength of the global navigation satellite system in the area where the first roadside unit is located is lower than a preset signal strength threshold.

In a possible implementation manner, the sending period of the positioning information is lower than a preset period threshold. .

In a second aspect, an embodiment of the present application provides a positioning method, which is applied to a vehicle-mounted terminal, and the method includes:

Receive data frames sent by a plurality of roadside units, where the data frames include positioning information, wherein the positioning information includes the position information of the roadside units sending the data frames;

According to multiple positioning information, the current position of the vehicle is obtained.

In a possible implementation manner, the data frame includes a bitmap;

Before obtaining the current position of the vehicle according to multiple positioning information, it also includes:

Based on the indication of the bits in the bitmap, the subframes carrying the positioning information are obtained, and the subframes are parsed to obtain the positioning information.

In a third aspect, an embodiment of the present application provides an electronic device, characterized in that it includes:

memory for storing programs;

The processor is configured to execute the program stored in the memory, and when the program stored in the memory is executed, the processor is configured to execute the method in the first aspect or the second aspect.

In a fourth aspect, an embodiment of the present application provides a computer storage medium, where instructions are stored in the computer storage medium, and when the instructions are executed on the computer, the computer is made to execute the method in the first aspect or the second aspect.

In a fifth aspect, the embodiments of the present application provide a computer program product containing instructions, when the instructions are run on a computer, the instructions cause the computer to execute the method in the first aspect or the second aspect.

In the positioning method, device, and electronic device provided by the embodiments of the present application, the positioning information required by the vehicle comes directly from the roadside unit, and the vehicle and the roadside unit can communicate directly. When the strength is poor (such as tunnels, garages, etc.), the positioning accuracy of vehicles can also meet the requirements, thereby improving the positioning accuracy of vehicles in areas with poor GNSS signal strength. In addition, in the embodiment of the present application, the roadside unit is used to send the positioning information, so that the positioning base station does not need to be deployed separately, which reduces the deployment cost and improves the deployment efficiency; and, the roadside unit and the vehicle use the V2X licensed frequency band for communication. , therefore, also solves the interference problem of unlicensed spectrum

Description of drawings

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

2 is a schematic diagram of a hardware structure of a roadside unit provided by an embodiment of the present application;

3 is a schematic structural diagram of a subframe in a bitmap provided by an embodiment of the present application;

4 is a schematic structural diagram of a subframe provided by an embodiment of the present application;

5 is a schematic diagram of communication between a roadside unit and a vehicle provided by an embodiment of the present application;

6 is a schematic diagram of coordinates for determining the current position of a vehicle provided by an embodiment of the present application;

FIG. 7 is another schematic diagram of coordinates for determining the current position of a vehicle provided by an embodiment of the present application.

detailed description

In order to make the objectives, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

In the description of the embodiments of the present application, words such as "exemplary", "such as" or "for example" are used to mean serving as an example, illustration or illustration. Any embodiments or designs described in the embodiments of the present application as "exemplary," "such as," or "by way of example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, use of words such as "exemplary," "such as," or "by way of example" is intended to present the related concepts in a specific manner.

In the description of the embodiments of the present application, the term "and/or" is only an association relationship for describing associated objects, indicating that there may be three relationships, for example, A and/or B, which may indicate: A alone exists, A alone exists There is B, and there are three cases of A and B at the same time. Also, unless stated otherwise, the term "plurality" means two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals.

In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implying the indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. The terms "including", "including", "having" and their variants mean "including but not limited to" unless specifically emphasized otherwise.

Under normal circumstances, in areas with poor GNSS signal strength, a high-precision area positioning and navigation system is generally used to locate the vehicle. The high-precision regional positioning and navigation system is a new type of regional positioning system composed of multiple ground base stations. Each base station uses a time synchronization algorithm to achieve ultra-high-precision time synchronization of the system, and broadcasts signals including positioning information to the coverage area. Receive and process multiple signals including positioning information, and use the principle of trilateral positioning similar to GNSS to obtain the high-precision position of the receiver through calculation, which can achieve centimeter-level position under dynamic conditions. However, since the high-precision area positioning and navigation system works in the ISM (industrial scientific medical) frequency band, its signal is vulnerable to external interference.

In addition, the high-precision regional positioning and navigation system and the Internet of Vehicles system are two independent systems, and each system has its own transmitter and receiver devices. In scenarios with poor GNSS signal strength such as tunnels and garages, two independent systems need to deploy their own transmitter base stations and equip their vehicles with their own receivers. The high-precision regional positioning and navigation system needs to send the signal including the positioning information output by its positioning machine to the vehicle terminal of the long term evolution-vehicle to everything (LTE-V2X) system to complete the integration of the two systems; after that, The high-precision location information reported by the vehicle terminal is used in the LTE-V2X scenario application. Since the two systems are deployed separately, the deployment cost is high.

In order to solve these problems, the embodiments described in this application provide a positioning method, which transmits the positioning information and the Internet of Vehicles information in a time-division multiplexing manner through the roadside unit, so that the positioning information can also be transmitted in the licensed frequency band of V2X, It solves the problem of interference when the signal is transmitted in the ISM frequency band, and improves the positioning accuracy of the vehicle. In addition, by using the roadside unit to send the positioning information, there is no need to deploy the positioning base station separately, which reduces the deployment cost and improves the deployment efficiency. These will be described in more detail below.

FIG. 1 is a schematic diagram of a system architecture of a positioning system provided by an embodiment of the present application. Referring to FIG. 1 , the positioning system includes: a vehicle 16 and a plurality of roadside units (RSUs), such as

roadside units

11 , 12 , 13 , 14 , 15 . The vehicle 16 is in the coverage area of the roadside unit.

A plurality of roadside units are arranged at intervals. For example, roadside units (such as

roadside units

11, 12, 13) can be arranged on the left side of the road, and roadside units (such as roadside units 14, 15) can also be arranged on the left side of the road. The right side of the road; in addition, the roadside unit may also be arranged above the road, etc., which may be determined according to the actual situation, which is not limited here. Among them, the roadside unit is mainly used for the collection, analysis, and release of traffic information, etc., and communicates with the equipment on the vehicle side (such as the vehicle terminal, etc.). Roadside units mainly have communication functions, safety functions, management functions and information release functions, etc., so as to improve traffic efficiency and provide users with intelligent, comfortable, safe and efficient comprehensive services.

An in-vehicle terminal (not shown in the figure) is provided on the vehicle 16 . In-vehicle terminal refers to the electronic equipment installed on the vehicle in the Internet of Vehicles, with computing, storage, input and output human-computer interaction interface and integrated communication module, which can provide information services for drivers and passengers and control the vehicle. The on-board terminal can be understood as an on-board unit (OBU). The communication between the vehicle 16 and the roadside unit can be understood as the communication between the vehicle terminal and the roadside unit.

Next, a schematic diagram of a hardware structure of a roadside unit in an embodiment of the present application is introduced.

FIG. 2 shows a schematic diagram of the hardware structure of a roadside unit, where the roadside unit can be applied to the positioning system shown in FIG. 1 . As shown in FIG. 2 , the RSU may include a first transmitting unit 21 , a second transmitting unit 22 , a radio frequency unit 23 and a clock unit 24 .

The first transmitting unit 21 is mainly used for transmitting positioning information. The positioning information carries a position signal of the roadside unit where the first transmitting unit 21 is located, such as position coordinates, where the position signal may be calibrated in advance.

The second transmitting unit 22 is mainly used for transmitting the Internet of Vehicles information. The Internet of Vehicles information carries traffic signal data, such as road condition data, map data, and the like.

The radio frequency unit 23 is mainly used to transmit the positioning information and the Internet of Vehicles information to the outside in a time-division multiplexing manner on a specific working frequency band (such as Band47), so that the vehicles 16 passing by the roadside unit can receive the positioning information and the Internet of Vehicles information. . Wherein, the communication between the roadside unit and the vehicle 16 may be performed using V2X or the like.

The clock unit 24 is mainly used to provide a reference clock for the first transmitting unit 21 , the second transmitting unit 22 and the radio frequency unit 23 .

It can be understood that the structures illustrated in the embodiments of the present application do not constitute a specific limitation on the roadside unit. In other embodiments of the present application, the roadside unit may include more or less components than shown, or combine some components, or separate some components, or arrange different components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

In some examples, the RSU may send a signal to the outside in the form of a data frame, where the data frame includes positioning information and vehicle networking information, wherein the positioning information and the vehicle networking information are carried in a time-division multiplexing manner.

As a possible implementation manner, when configuring the resource pool in the RSU, the configuration information may include the bitmap bitmap of the data frame, and each bit is mapped to one subframe (such as a service subframe or a spare subframe). frame). In the bitmap, at least one subframe to which the indication bits are mapped carries positioning information, and at least one subframe in the remaining subframes to which the indication bits are mapped carries the Internet of Vehicles information, so as to realize the positioning information and Time division multiplexing of Internet of Vehicles information.

For example, as shown in Figure 3, the length of the bitmap is 100. If the value of the bit is "0", it indicates that positioning information is sent on the subframe corresponding to the bit, when the value of the bit is "1" Indicates that the IoV information is sent on the subframe corresponding to this bit. If it is indicated in the bitmap that two service subframes (such as Service subframes) carry positioning information and IoV information, respectively, the service subframe where the positioning information is located is sent when the bit value is "0", and the bit value is "0". The value of the bit is "1" to send the service subframe where the IoV information is located. In addition, if the bitmap indicates that the backup subframe (such as the Reserved subframe) carries positioning information, and indicates that the service subframe (such as the Service subframe) carries the Internet of Vehicles information, use the backup in the bitmap. The subframe sends positioning information, and the service subframe in the bitmap is used to send the Internet of Vehicles information.

As another possible implementation manner, a subframe (such as a Service subframe) in the data frame is used to carry the positioning information and the Internet of Vehicles information at the same time, that is, the positioning information and the Internet of Vehicles information are carried in one subframe at the same time. Since the transmission period of the subframe is 1ms, the transmission period of the positioning information is also 1ms, which greatly shortens the transmission period of the positioning information; in addition, a subframe contains 15 symbols, and the duration of each symbol is 1/15ms, which also shortens the duration of the positioning information and improves the time resolution of the positioning information. Among them, at least one symbol can be selected in the subframe to carry the positioning information, and at least one symbol can be selected from the remaining symbols in the subframe to carry the Internet of Vehicles information, so as to realize the time division multiplexing of the positioning information and the Internet of Vehicles information .

For example, as shown in FIG. 4 , the structure of a service subframe (such as a Service subframe) includes automatic gain control (automatic gain control, AGC) symbols, demodulation reference signal (demodulation reference signal, DMRS) symbols, data ( Date) symbol and guard interval (guard period, GP) symbol. The guard interval symbol can be used to carry positioning information, and the data symbol can be used to carry IoV information.

Next, the interaction flow between the roadside unit and the vehicle is introduced.

FIG. 5 is a schematic diagram of communication between a roadside unit and a vehicle-mounted terminal provided by an embodiment of the present application. Referring to Figure 1, the communication process between the roadside unit and the vehicle terminal includes:

Step 101, multiple roadside units synchronously send data frames including positioning information.

The RSU may continuously or periodically send a data frame including positioning information, where the positioning information includes a position signal of the RSU. Each positioning information corresponds to a roadside unit, that is, there is a mapping relationship between the positioning information and the roadside unit. In addition, when the data frame includes the positioning information and the Internet of Vehicles information, the positioning information and the Internet of Vehicles information are carried in a time-division multiplexing manner.

Step 102, the on-board terminal on the vehicle receives a plurality of data frames.

Step 103, the vehicle-mounted terminal determines the current position of the vehicle according to the positioning information in the multiple data frames.

After the on-board terminal on the vehicle receives multiple data frames, it parses the data frames to obtain positioning information, and then the current position of the vehicle can be determined according to the multiple positioning information. Wherein, when the data frame includes a bitmap, the in-vehicle terminal can obtain the subframe carrying the positioning information in the data frame based on the indication of the bit in the bitmap, and analyze the subframe to obtain the positioning information.

The following describes the principle that the vehicle-mounted terminal on the vehicle obtains the current position of the vehicle according to the received multiple positioning information. Continuing to refer to FIG. 1 , taking two roadside units (such as roadside units 11 and 12 ) on the same side as an example, the vehicle 16 can determine the time of each positioning information based on the receiving time and the sending time of each positioning information. The propagation time t, if the propagation speed of the positioning information is v, the vehicle 16 can determine the distance between the vehicle 16 and each roadside unit from the propagation time t and the propagation speed v of each positioning information. Referring to FIG. 6 , if the distances L1 and L2 between the vehicle 16 and the

roadside units

11 and 12 are both 1.414, the position coordinate a of the roadside unit 11 is (0, 0), and the position coordinate b of the roadside unit 12 is (0, 2), the coordinate c of the vehicle relative to the

roadside units

11 and 12 is (1, 1), and then the current position of the vehicle 16 is obtained.

In addition, in order to improve the positioning accuracy, the in-vehicle terminal can also obtain the current position of the vehicle according to the positioning information of three or more roadside units. Continuing to refer to FIG. 1 , taking three roadside units as an example, two roadside units (such as roadside units 11 and 12 ) are on the same side, and another roadside unit (such as roadside unit 14 ) is on the other side . The vehicle 16 can determine the propagation time t of each positioning information based on the receiving time and the sending time of each positioning information. If the propagation speed of the positioning information is v, the vehicle 16 is determined by the propagation time t and speed v, the distance between the vehicle 16 and each roadside unit can be determined. Referring to FIG. 7 , if the distances L1 and L2 between the vehicle 16 and the

roadside units

11 and 12 are both 1.414, the distance L3 between the vehicle 16 and the roadside unit 14 is 1; the position coordinate a of the roadside unit 11 is (0,0), the position coordinate b of the roadside unit 12 is (0,2), and the position coordinate c of the roadside unit 12 is (2,1), then the coordinates d of the vehicle relative to the

roadside units

11, 12, 14 is (1,1), and then the current position of the vehicle 16 is obtained.

It can be understood that the positioning principles illustrated in the embodiments of the present application do not constitute a specific limitation on vehicle positioning. In other embodiments of the present application, the vehicle may also be positioned using other positioning principles (eg, using a trilateral positioning principle similar to GNSS, etc.).

In order to better understand the technical solutions provided by the embodiments of the present application, an application scenario of the embodiments of the present application is introduced below. Continuing to refer to FIG. 1 , each roadside unit sends a data frame to the outside world, and the data frame includes positioning information, or the data frame includes positioning information and vehicle networking information carried in a time-division multiplexing manner. Wherein, when the roadside unit 11 sends the data frame including the positioning information, other roadside units (such as the

roadside units

12, 13, 14) also send their respective data frames of the positioning information synchronously; that is, each roadside unit The units all send data frames to the outside world synchronously. For example, if the roadside unit 11 sends a data frame including positioning information to the outside world at time A, the

roadside units

12 and 13 also send their respective data including positioning information to the outside world at time A. frame. When the vehicle 16 drives into the coverage area of multiple roadside units (such as

roadside units

11, 12, 13, 14), the vehicle-mounted terminal on the vehicle 16 can receive the data frames sent by the multiple roadside units, and respond to the data Frames are parsed to obtain positioning information. Afterwards, the in-vehicle terminal on the vehicle 16 can obtain the current position of the vehicle 16 according to the received multiple positioning information. After that, when the vehicle-mounted terminal on the vehicle 16 feeds back the current position of the vehicle 16 to the roadside unit, the roadside unit obtains the exact position of the vehicle 16, and then the roadside unit can be based on the position of the vehicle 16 and the positions of other vehicles. and other data, to judge the road condition information, and to remind each vehicle.

Next, it is introduced that the simulation software (such as matrix laboratory, MATLAB) is used to simulate and evaluate the positioning to determine the positioning accuracy. Continuing to refer to Figure 1, the simulation model is:

1. The roadside units are deployed in the tunnel, where the width of the tunnel is 10 meters, the roadside units are deployed on both sides of the tunnel, and the deployment height of the roadside units is 3.5 meters.

2. The

roadside units

11, 12 and 13 are placed on the same side of the road at an equal interval of 200m, and the

roadside units

14 and 15 are placed on the other side of the road at an interval of 200m. The roadside unit 14 is located in the middle of the

roadside units

11 and 12 .

3. The vehicle 16 travels at a speed of 80 km/h and travels in the positive direction of the X-axis.

Simulation evaluation results:

1. When the sending period of the positioning information is less than the preset period (such as 15ms), the positioning can be completed by relying on the positioning information alone, and other positioning systems are not used for auxiliary positioning at this time.

2. When the transmission period of the positioning information is 1ms, the period is less than 15ms. Therefore, the positioning information can be used to complete the positioning of the vehicle at this time.

Further, the carrier-to-noise ratio of the signal sent in the form of a data frame is adjusted to determine the positioning accuracy under different carrier-to-noise ratios, and the results shown in Table 1 are obtained, as shown in Table 1 for details.

Table I

As can be seen from Table 1, when the transmission period of the positioning information is 1ms, and the carrier-to-noise ratio of the transmitted signal is greater than or equal to 67dBHz, the positioning accuracy of the X-axis can reach centimeter-level, and the positioning accuracy of the Y-axis can reach sub-meter level. , and the total positioning accuracy can also reach the sub-meter level, that is, the positioning accuracy at this time is very high. Therefore, during use, the carrier-to-noise ratio of the positioning information can be adjusted to more than 67dBHz.

To sum up, the positioning information required by the vehicle in the embodiment of the present application comes directly from the roadside unit, and the vehicle and the roadside unit can communicate directly. Therefore, when the GNSS signal strength of the road section where the vehicle is traveling is poor ( Such as tunnels, garages, etc.), the positioning accuracy of the vehicle can also meet the requirements, thereby improving the positioning accuracy of vehicles in areas with poor GNSS signal strength. In addition, in the embodiment of the present application, the roadside unit is used to send the positioning information, so that the positioning base station does not need to be deployed separately, which reduces the deployment cost and improves the deployment efficiency; and, the roadside unit and the vehicle use the V2X licensed frequency band for communication. , therefore, the interference problem of unlicensed spectrum is also solved.

It can be understood that the processor in the embodiments of the present application may be a central processing unit (central processing unit, CPU), and may also be other general-purpose processors, digital signal processors (digital signal processors, DSP), application-specific integrated circuits (application specific integrated circuit, ASIC), field programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. A general-purpose processor may be a microprocessor or any conventional processor.

The method steps in the embodiments of the present application may be implemented in a hardware manner, or may be implemented in a manner in which a processor executes software instructions. Software instructions can be composed of corresponding software modules, and software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (programmable rom) , PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically erasable programmable read-only memory (electrically EPROM, EEPROM), registers, hard disks, removable hard disks, CD-ROMs or known in the art in any other form of storage medium. An exemplary storage medium is coupled to the processor, such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and storage medium may reside in an ASIC.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can 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. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer instructions may be stored in or transmitted over a computer-readable storage medium. The computer instructions can be sent from one website site, computer, server, or data center to another website site by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.) , computer, server or data center. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes an integration of one or more available media. The usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)), and the like.

It can be understood that, the various numbers and numbers involved in the embodiments of the present application are only for the convenience of description, and are not used to limit the scope of the embodiments of the present application.

Claims

A positioning method, characterized in that it is applied to a first roadside unit, wherein the first roadside unit is one of a plurality of roadside units arranged at intervals, the method comprising:

The first roadside unit sends data frames synchronously with other roadside units in the plurality of roadside units, and the data frames include positioning information, so that a passing vehicle terminal can determine the current position of the vehicle according to the positioning information ;

Wherein, the location information includes location information of the roadside unit that sends the data frame.
The method according to claim 1, wherein the data frame further includes vehicle networking information, and the vehicle networking information and the positioning information are carried in a time-division multiplexing manner.
The method according to claim 2, wherein, in the bitmap in the data frame, the bitmap indicates that at least one subframe to which the bits are mapped carries the positioning information, and the bitmap indicates that the bits carry the positioning information. At least one subframe in the remaining mapped subframes carries the Internet of Vehicles information.
The method according to claim 2, wherein at least one symbol of a subframe in the data frame carries the positioning information, and at least one symbol of the remaining symbols of the subframe carries the IoV information.
The method according to any one of claims 1-4, wherein the GNSS signal strength of the global navigation satellite system in the area where the first roadside unit is located is lower than a preset signal strength threshold.
The method according to any one of claims 1-4, wherein the sending period of the positioning information is lower than a preset period threshold.
A positioning method, characterized in that it is applied to a vehicle-mounted terminal, the method comprising:

receiving data frames sent by a plurality of roadside units, where the data frames include positioning information, wherein the positioning information includes location information of the roadside units that send the data frames;

According to a plurality of the positioning information, the current position of the vehicle is obtained.
The method according to claim 7, wherein the data frame further includes vehicle networking information, and the vehicle networking information and the positioning information are carried in a time-division multiplexing manner.
The method according to claim 8, wherein the data frame includes a bitmap;

Before obtaining the current position of the vehicle according to the multiple pieces of positioning information, the method further includes:

Obtain the subframe carrying the positioning information based on the bit bit indication in the bitmap, and parse the subframe to obtain the positioning information.
An electronic device, comprising:

memory for storing programs;

The processor is configured to execute the program stored in the memory, and when the program stored in the memory is executed, the processor is configured to execute the method according to any one of claims 1-6, or execute the method according to claim 7-9.
A computer storage medium having instructions stored in the computer storage medium, when the instructions are executed on a computer, the computer causes the computer to execute the method according to any one of claims 1-9.