CN105355071A - Vehicle-mounted terminal real road dynamic positioning precision automatic assessment system and method - Google Patents
Vehicle-mounted terminal real road dynamic positioning precision automatic assessment system and method Download PDFInfo
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- CN105355071A CN105355071A CN201510783706.4A CN201510783706A CN105355071A CN 105355071 A CN105355071 A CN 105355071A CN 201510783706 A CN201510783706 A CN 201510783706A CN 105355071 A CN105355071 A CN 105355071A
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Abstract
The invention discloses a vehicle-mounted terminal real road dynamic positioning precision automatic assessment system and method. The system comprises a test vehicle on which a vehicle-mounted unit to be tested is installed, a first road side unit and a second road side unit which are respectively arranged at the entrance and the exit of a test area, and a background server which is respectively connected with the vehicle-mounted unit to be tested, the first road side unit and the second road side unit. When the vehicle-mounted unit to be tested communicates with the road side units through microwaves, the road side units record time points of communication with the vehicle-mounted unit to be tested and upload the time points of communication to the background server. The vehicle-mounted unit to be tested positions current position information of the test vehicle and uploads current time points at which the current position is the same with a preset reference position to the background server. The background server judges whether positioning error of the vehicle-mounted unit to be tested is within set error according to the received data. According to the system and the method, rapid automatic assessment of vehicle-mounted unit positioning precision can be realized, and labor and time cost can be reduced to a great extent.
Description
Technical field
The present invention relates to car-mounted terminal satellite navigation positioning field, be specifically related to a kind of robotization evaluating system and method for car-mounted terminal physical circuit dynamic locating accuracy.
Background technology
Along with the application of location technology is day by day popularized, a kind of suitable physical circuit dynamic locating accuracy evaluating system and method are being sought by car-mounted terminal manufacturer, integrator and contract manufacturer.This evaluating system and method need to possess efficient, robotization, saving manpower and time cost, the car-mounted terminal can simultaneously assessed in multiple testing vehicle, take into account the characteristic such as scene of various satellite-signal quality.Existing appraisal procedure mainly contains following two kinds:
Bench-marking method: same position board units OBU and hi-Fix terminal (as RTK equipment) being arranged on same testing vehicle, after the two all location, steering vehicle travels image data on test road, after having gathered data, the positioning result of the OBU Kinematic Positioning result of same time point and hi-Fix terminal (as RTK equipment) is contrasted, calculate the positioning error of OBU.But the method is in the bad region (as territory, high rise building dense, tree shade occlusion area etc.) of satellite-signal, the positioning precision deviation of hi-Fix terminal is comparatively large, and even in the very poor region of some satellite-signal, hi-Fix terminal can be in no-fix state; In addition, hi-Fix terminal as benchmark can only test the OBU in a vehicle simultaneously, can not assess the dynamic locating accuracy of OBU in a lot of vehicle simultaneously.
Benchmark test method: use mark post to demarcate nominative testing region, regional center is reference point, zone length is the error range of pre-statistics; When the testing vehicle that OBU is housed drives towards test zone, whether the current positional information of OBU real-time judge is consistent with the reference position information preset, and lights external pilot lamp time consistent; In test carriage, install video camera, taken by whole test process, the later stage checks the video of shooting, judges whether pilot lamp is lit in appointment mark post region, if then locate successfully, otherwise is designated as failure.Adopt this method of testing, the resource of building needs of test environment is more (mark post, pilot lamp, video camera), need before each test artificially to confirm mark post whether complete (existing by the risk artificially moving or remove after real road being installed mark post), need to drop into considerable manpower, screening, statistics, analysis, calculating etc. that the time goes to carry out test data.
Summary of the invention
For the defect existed in prior art, the object of the present invention is to provide a kind of robotization evaluating system and method for car-mounted terminal physical circuit dynamic locating accuracy, realize the testing evaluation of efficient, the robotization to the positioning precision of board units OBU.
For achieving the above object, the technical solution used in the present invention is: a kind of robotization evaluating system of car-mounted terminal physical circuit dynamic locating accuracy, comprise testing vehicle and be arranged on the board units to be tested on testing vehicle, the background server also comprising the first via side unit being arranged on test zone entrance, the second roadside unit being arranged on test zone outlet and communicate to connect with board units to be tested, first via side unit and the second roadside unit respectively;
Described first via side unit, for when the board units to be tested of testing vehicle enters its Dedicated Short Range Communications, coverage, carries out microwave communication with board units to be tested, records the call duration time point T of itself and board units to be tested
1and this record is uploaded to background server;
Described board units to be tested, for the current location information of real-time assignment test vehicle, when the current location of testing vehicle is identical with the preset reference position in test zone, record current point in time T
0and this record is uploaded to background server;
Described second roadside unit, for when the board units to be tested of testing vehicle enters its Dedicated Short Range Communications, coverage, carries out microwave communication with board units to be tested, records the call duration time point T of itself and board units to be tested
2and this record is uploaded to background server;
Described background server, for according to described call duration time point T
1, current point in time T
0with call duration time point T
2judge that the positioning error of described board units to be tested is whether in specification error, judgment mode is:
If T
1≤ T
0≤ T
2, then judge that the positioning error of board units to be tested is in specification error;
If T
0< T
1or T
0> T
2, then judge that the positioning error of board units to be tested is not in specification error;
Described specification error scope is 1/2 of the road section length of test zone.
Further, the robotization evaluating system of a kind of car-mounted terminal physical circuit dynamic locating accuracy as above, when treating test carriage carrier unit and carrying out the assessment of N positioning precision, described background server is also for before the positioning precision judging board units to be tested, judge whether the data received are data available, if so, then retain these data, if not, then these data are deleted; N >=2;
Described data available refers to that in the position precision evaluate with a test carriage carrier unit, first via side unit and the second roadside unit all have the call duration time point be recorded to board units to be tested; Judgment mode is:
Judge whether the call duration time point that first via side unit and the second roadside unit are uploaded is N number of, and all data if so, then received are all available, if not, then call duration time point T first via side unit uploaded
1the call duration time point T uploaded with the second roadside unit
2compare, is less than a pair call duration time point T of setting-up time threshold value the mistiming
1and T
2be defined as one group of data available.
Further, the robotization evaluating system of a kind of car-mounted terminal physical circuit dynamic locating accuracy as above, the distance between the preset reference position that the current location of testing vehicle is identical with the preset reference position in test zone to be referred in the current location of testing vehicle and test zone is less than setpoint distance.
Further, the robotization evaluating system of a kind of car-mounted terminal physical circuit dynamic locating accuracy as above, described preset reference position is the center, section of test zone.
Further, the robotization evaluating system of a kind of car-mounted terminal physical circuit dynamic locating accuracy as above, the Dedicated Short Range Communications, coverage of first via side unit and the second roadside unit is greater than the section width of test zone; The Dedicated Short Range Communications, coverage zero lap of first via side unit and the second roadside unit.
Present invention also offers a kind of robotization appraisal procedure of a kind of car-mounted terminal physical circuit dynamic locating accuracy based on above-mentioned robotization evaluating system, comprise the following steps:
(1) testing vehicle enters test zone, when board units to be tested enters into the Dedicated Short Range Communications, coverage of first via side unit, and the call duration time point T of first via side unit record and board units to be tested
1and this record is uploaded to background server;
(2) current location information of the real-time assignment test vehicle of board units to be tested, when the current location of testing vehicle is identical with the preset reference position in test zone, board units record current point in time T to be tested
0and this record is uploaded to background server;
(3) when the board units to be tested of testing vehicle enters into the second roadside unit Dedicated Short Range Communications, coverage, the second roadside unit communicates with board units to be tested, the call duration time point T of the second roadside unit record and board units to be tested
2and this record is uploaded to background server;
(4) background server is according to described call duration time point T
1, current point in time T
0with call duration time point T
2judge that the positioning error of described board units to be tested is whether in specification error, judgment mode is:
If T
1≤ T
0≤ T
2, then judge that the positioning error of board units to be tested is in specification error;
If T
0< T
1or T
0> T
2, then judge that the positioning error of board units OBU to be tested is not in specification error;
Described specification error scope is 1/2 of the road section length of test zone.
Further, the robotization appraisal procedure of a kind of car-mounted terminal physical circuit dynamic locating accuracy as above,
When treating test carriage carrier unit and carrying out the assessment of N positioning precision, in step (4), background server is before the positioning error of carrying out board units to be tested judges, judge whether the data received are data available, if so, then retain these data, if not, then these data are deleted; N >=2;
Described data available refers to that in the position precision evaluate with a test carriage carrier unit, first via side unit and the second roadside unit all have the call duration time point be recorded to board units to be tested; Judgment mode is:
Judge whether the call duration time point that first via side unit and the second roadside unit are uploaded is N number of, and all data if so, then received are all available, if not, then call duration time point T first via side unit uploaded
1the call duration time point T uploaded with the second roadside unit
2compare, is less than a pair call duration time point T of setting-up time threshold value the mistiming
1and T
2be defined as one group of data available.
Further, the robotization appraisal procedure of a kind of car-mounted terminal physical circuit dynamic locating accuracy as above, in step (2), the current location of described testing vehicle is identical with the preset reference position in test zone refers to that the distance of current location and preset reference position is less than setpoint distance.
Further, the robotization appraisal procedure of a kind of car-mounted terminal physical circuit dynamic locating accuracy as above, described preset reference position is the center, section of test zone.
Further, the robotization appraisal procedure of a kind of car-mounted terminal physical circuit dynamic locating accuracy as above, the Dedicated Short Range Communications, coverage of first via side unit and the second roadside unit is greater than the section width of test zone; The Dedicated Short Range Communications, coverage zero lap of first via side unit and the second roadside unit.
Beneficial effect of the present invention is: robotization evaluating system provided by the present invention and method, the rapid automatized assessment of the positioning precision of board units OBU can be realized, and the method and system can reduce manpower and time cost largely, and the car-mounted terminal can simultaneously assessed in multiple testing vehicle, and the scene of various satellite-signal quality can be taken into account.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the robotization evaluating system of a kind of car-mounted terminal physical circuit dynamic locating accuracy in the specific embodiment of the invention;
Fig. 2 is roadside unit RSU, communication scheme between board units OBU and background server;
Fig. 3 is the process flow diagram of the robotization appraisal procedure of a kind of car-mounted terminal physical circuit dynamic locating accuracy in the specific embodiment of the invention;
Fig. 4 is a kind of arrangement schematic diagram of the robotization evaluating system of car-mounted terminal physical circuit dynamic locating accuracy in the specific embodiment of the invention.
Embodiment
Below in conjunction with Figure of description and embodiment, the present invention is described in further detail.
Fig. 1 shows the structural representation of the robotization evaluating system of a kind of car-mounted terminal physical circuit dynamic locating accuracy provided in the specific embodiment of the invention, this system comprises testing vehicle and is arranged on the board units to be tested 10 on testing vehicle, the background server 40 also comprising the first via side unit 20 being arranged on test zone entrance, the second roadside unit 30 being arranged on test zone outlet and communicate to connect with board units 10 to be tested, first via side unit 20 and the second roadside unit 30 respectively.Fig. 2 shows the correspondence schematic diagram between board units OBU in this system, roadside unit RSU (first via side unit or the second roadside unit) and background server.
Described first via side unit 20, for when the board units to be tested 10 of testing vehicle enters its Dedicated Short Range Communications, coverage, carries out microwave communication with board units 10 to be tested, records the call duration time point T of itself and board units OBU to be tested
1and this record is uploaded to background server 40;
Described board units to be tested 10, for the current location information of real-time assignment test vehicle, when the current location of testing vehicle is identical with the preset reference position in test zone, record current point in time T
0and this record is uploaded to background server 40;
Described second roadside unit 30, for when the board units to be tested 10 of testing vehicle enters its Dedicated Short Range Communications, coverage, carries out microwave communication with board units 10 to be tested, records the call duration time point T of itself and board units to be tested 10
2and this record is uploaded to background server 40;
Described background server 40, for according to described call duration time point T
1, current point in time T
0with call duration time point T
2judge that the positioning error of described board units to be tested 10 is whether in specification error, judgment mode is:
If T
1≤ T
0≤ T
2, then judge that the positioning error of board units 10 to be tested is in specification error;
If T
0< T
1or T
0> T
2, then judge that the positioning error of board units 10 to be tested is not in specification error;
Wherein, described specification error is 1/2 of the road section length of test zone.
In present embodiment, the distance between the preset reference position that the current location of testing vehicle is identical with the preset reference position in test zone to be referred in the current location of testing vehicle and test zone is less than setpoint distance.In actual testing evaluation, generally first determine specification error (treating the positioning accuracy request of test carriage carrier unit), selected preset reference position afterwards, test zone is determined centered by preset reference position, 1/2 of the length of test zone is specification error, that is, preset reference position is the center, section of whole test zone.Such as, default error is 5m, and so the road section length of test zone is 10m, and the length of starting position, preset reference positional distance section and end position is all 5m.
In order to ensure the accuracy of the stable and assessment result that board units communicates with roadside unit, in present embodiment, the Dedicated Short Range Communications, coverage of described first via side unit 20 and the second roadside unit 30 is greater than the section width of test zone, namely DSRC communication zone covers whole section width, at road where no matter make testing vehicle travel, board units can both set up good connection with roadside unit.The Dedicated Short Range Communications, coverage zero lap of first via side unit 20 and the second roadside unit 30, like this, the situation that the board units avoiding testing vehicle communicates with two roadside units simultaneously.
In actual applications, all need to carry out N time (N >=2) to the assessment test of the positioning precision of board units OBU, because board units to be tested communicates unsuccessful with board units in certain evaluation process, the data gathered are caused unavailablely (during assessment, to have one of them roadside unit to communicate unsuccessful with board units to be tested, namely be not recorded to call duration time point) situation, in present embodiment, described background server 40 is also for before the positioning precision judging board units to be tested, judge whether the data received are data available, if, then retain these data, if not, then delete these data, described data available refers to that in the position precision evaluate with a test carriage carrier unit, first via side unit 20 and the second roadside unit 30 all have the call duration time point be recorded to board units 10 to be tested, judgment mode is:
Judge whether the call duration time point that first via side unit 20 and the second roadside unit 30 are uploaded is N number of, if, the all data then received are all available, roadside unit according to the front and back stored record of time data and upload, the now call duration time point one_to_one corresponding uploaded of first via side unit and the second roadside unit; If not, then call duration time point T first via side unit 20 uploaded
1the call duration time point T uploaded with the second roadside unit 30
2compare, is less than a pair call duration time point T of setting-up time threshold value the mistiming
1and T
2be defined as one group of data available.
In a testing evaluation process, owing to treating the requirement of test carriage carrier unit 10 positioning precision, the road section length of test zone is shorter, testing vehicle can be very short by the time of whole test zone, therefore, with when once assessing, if roadside unit all communicates successfully with board units 10 to be tested, so call duration time point T
1and T
2mistiming very short, and this mistiming can be far smaller than the mistiming of the start time of adjacent twice assessment, the mode that therefore whether can be less than setting-up time threshold value by the mistiming both judging judges whether data can be used.
Certainly, if first via side unit 20 and the second roadside unit 30 are that the data of record are uploaded to background server 40 in real time, if if background server 40 receives only the call duration time point that a roadside unit is uploaded, so just directly can determine that the data in this assessment are unavailable.If after completing N test, then by data upload, then can filter out disabled data by the way.
Based on the system shown in Fig. 1, additionally provide a kind of robotization appraisal procedure of car-mounted terminal physical circuit dynamic locating accuracy in present embodiment, as shown in Figure 3, the method comprises the following steps:
Step S100: the first via side unit being arranged on test zone entrance communicates with board units to be tested, the call duration time point of first via side unit record and board units to be tested is also uploaded to background server;
First, robotization evaluating system shown in arrangenent diagram 1, arranges schematic diagram as shown in Figure 4: first determine positioning precision error and specification error, selected preset reference position, centered by preset reference position, both sides respectively extend the distance of specification error, determine test zone.As shown in Figure 4, specification error is d/2, and the road section length of test zone is d, first via side unit is arranged on the porch in section, second roadside unit is arranged on the exit in section, is generally the both sides being arranged on road, and the center, section of selected test zone is preset reference position.In actual applications, in order to ensure integrality and the accuracy of data acquisition as far as possible, the Dedicated Short Range Communications, coverage of first via side unit and the second roadside unit is greater than the width in section to be collected, the Dedicated Short Range Communications, coverage zero lap of first via side unit and the second roadside unit, as shown in Figure 4.
Complete the cloth postpone of test macro, the positioning precision test of board units can be carried out: be arranged on testing vehicle by board units to be measured, testing vehicle enters test zone, when board units to be tested enters into the Dedicated Short Range Communications, coverage of first via side unit, first via side unit and board units microwave communication to be tested, record the call duration time point T of itself and board units to be tested
1and this record is uploaded to background server.
Step S200: the current location information that the real-time assignment test of board units to be tested is measured, when current location is identical with preset reference position, record current point in time is also uploaded to background server;
After testing vehicle enters into test zone, the current location information of the real-time assignment test vehicle of board units to be tested, when the current location of testing vehicle is identical with the preset reference position in test zone, board units record current point in time T to be tested
0and this record is uploaded to background server.Wherein, the current location of described testing vehicle is identical with the preset reference position in test zone refers to that the distance of current location and preset reference position is less than setpoint distance.
Step S300: be located at and communicate with board units to be tested at the second roadside unit of test zone outlet, the call duration time point of the second roadside unit record and board units to be tested is also uploaded to background server;
Testing vehicle arrives near the outlet of test zone, when board units to be tested enters into the Dedicated Short Range Communications, coverage of the second roadside unit, second roadside unit and board units microwave communication to be tested, record the call duration time point T of itself and board units to be tested
2and this record is uploaded to background server.
Step S400: according to the information received, background server judges that the positioning error of board units to be tested is whether within the scope of specification error.
After background server receives the information that board units to be tested, first via side unit and the second roadside unit upload, first the data uploaded according to first via side unit and the second roadside unit judge whether these data are data available, if in once assessing, first via side unit all communicates successfully with board units to be tested with the second roadside unit, namely all upload call duration time point, then illustrate that the data of this assessment can be used.
In present embodiment, judge that whether data are the concrete mode of data available and are:
Suppose that treating test carriage carrier unit has carried out N (N>=2) testing evaluation, first judge whether the call duration time point that first via side unit and the second roadside unit are uploaded is N number of, if, the all data then received are all available, if not, then call duration time point T first via side unit uploaded
1the call duration time point T uploaded with the second roadside unit
2compare, is less than a pair call duration time point T of setting-up time threshold value the mistiming
1and T
2be defined as one group of data available.
Afterwards, background server is according to the call duration time point T received
1, current point in time T
0with call duration time point T
2judge that the positioning error of described board units to be tested is whether in specification error (road section length of test zone), concrete judgment mode is:
If T
1≤ T
0≤ T
2, then judge that the positioning error of board units to be tested is within the scope of specification error;
If T
0< T
1or T
0> T
2, then judge that the positioning error of board units OBU to be tested is not within the scope of specification error.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technology thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. the robotization evaluating system of a car-mounted terminal physical circuit dynamic locating accuracy, comprise testing vehicle and be arranged on the board units to be tested (10) on testing vehicle, it is characterized in that: the background server (40) also comprising the first via side unit (20) being arranged on test zone entrance, the second roadside unit (30) being arranged on test zone outlet and communicate to connect with board units to be tested (10), first via side unit (20) and the second roadside unit (30) respectively;
Described first via side unit (20), for when the board units to be tested (10) of testing vehicle enters its Dedicated Short Range Communications, coverage, carry out microwave communication with board units to be tested (10), record the call duration time point T of itself and board units to be tested (10)
1and this record is uploaded to background server (40);
Described board units to be tested (10), for the current location information of real-time assignment test vehicle, when the current location of testing vehicle is identical with the preset reference position in test zone, record current point in time T
0and this record is uploaded to background server (40);
Described second roadside unit (30), for when the board units to be tested (10) of testing vehicle enters its Dedicated Short Range Communications, coverage, carry out microwave communication with board units to be tested (10), record the call duration time point T of itself and board units to be tested (10)
2and this record is uploaded to background server (40);
Described background server (40), for according to described call duration time point T
1, current point in time T
0with call duration time point T
2judge that the positioning error of described board units to be tested (10) is whether in specification error, judgment mode is:
If T
1≤ T
0≤ T
2, then judge that the positioning error of board units to be tested (10) is in specification error;
If T
0< T
1or T
0> T
2, then judge that the positioning error of board units to be tested (10) is not in specification error;
Described specification error scope is 1/2 of the road section length of test zone.
2. the robotization evaluating system of a kind of car-mounted terminal physical circuit dynamic locating accuracy according to claim 1, it is characterized in that: when treating test carriage carrier unit (10) and carrying out the assessment of N positioning precision, described background server (40) is also for before the positioning precision judging board units to be tested, judge whether the data received are data available, if, then retain these data, if not, then delete these data; N >=2;
Described data available refers to that in the position precision evaluate with a test carriage carrier unit, first via side unit (20) and the second roadside unit (30) all have the call duration time point be recorded to board units to be tested (10); Judgment mode is:
Judge whether the call duration time point that first via side unit (20) and the second roadside unit (30) are uploaded is N number of, if, the all data then received are all available, if not, then and call duration time point T first via side unit (20) uploaded
1the call duration time point T uploaded with the second roadside unit (30)
2compare, is less than a pair call duration time point T of setting-up time threshold value the mistiming
1and T
2be defined as one group of data available.
3. the robotization evaluating system of a kind of car-mounted terminal physical circuit dynamic locating accuracy according to claim 1, is characterized in that: the distance between the preset reference position that the current location of testing vehicle is identical with the preset reference position in test zone to be referred in the current location of testing vehicle and test zone is less than setpoint distance.
4. the robotization evaluating system of a kind of car-mounted terminal physical circuit dynamic locating accuracy according to claim 3, is characterized in that: described preset reference position is the center, section of test zone.
5. according to the robotization evaluating system of a kind of car-mounted terminal physical circuit dynamic locating accuracy one of Claims 1-4 Suo Shu, it is characterized in that: the Dedicated Short Range Communications, coverage of first via side unit (20) and the second roadside unit (30) is greater than the section width of test zone; The Dedicated Short Range Communications, coverage zero lap of first via side unit (20) and the second roadside unit (30).
6., based on the robotization appraisal procedure of a kind of car-mounted terminal physical circuit dynamic locating accuracy of the robotization evaluating system of car-mounted terminal physical circuit dynamic locating accuracy according to claim 1, comprise the following steps:
(1) testing vehicle enters test zone, when board units to be tested enters into the Dedicated Short Range Communications, coverage of first via side unit, and the call duration time point T of first via side unit record and board units to be tested
1and this record is uploaded to background server;
(2) current location information of the real-time assignment test vehicle of board units to be tested, when the current location of testing vehicle is identical with the preset reference position in test zone, board units record current point in time T to be tested
0and this record is uploaded to background server;
(3) when the board units to be tested of testing vehicle enters into the second roadside unit Dedicated Short Range Communications, coverage, the second roadside unit communicates with board units to be tested, the call duration time point T of the second roadside unit record and board units to be tested
2and this record is uploaded to background server;
(4) background server is according to described call duration time point T
1, current point in time T
0with call duration time point T
2judge that the positioning error of described board units to be tested is whether in specification error, judgment mode is:
If T
1≤ T
0≤ T
2, then judge that the positioning error of board units to be tested is in specification error;
If T
0< T
1or T
0> T
2, then judge that the positioning error of board units OBU to be tested is not in specification error;
Described specification error scope is 1/2 of the road section length of test zone.
7. the robotization appraisal procedure of a kind of car-mounted terminal physical circuit dynamic locating accuracy according to claim 6, it is characterized in that: when treating test carriage carrier unit and carrying out the assessment of N positioning precision, in step (4), background server is before the positioning error of carrying out board units to be tested judges, judge whether the data received are data available, if so, then protect
staythese data, if not, then delete these data; N>=2;
Described data available refers to that in the position precision evaluate with a test carriage carrier unit, first via side unit and the second roadside unit all have the call duration time point be recorded to board units to be tested; Judgment mode is:
Judge whether the call duration time point that first via side unit and the second roadside unit are uploaded is N number of, and all data if so, then received are all available, if not, then call duration time point T first via side unit uploaded
1the call duration time point T uploaded with the second roadside unit
2compare, is less than a pair call duration time point T of setting-up time threshold value the mistiming
1and T
2be defined as one group of data available.
8. the robotization appraisal procedure of a kind of car-mounted terminal physical circuit dynamic locating accuracy according to claim 7, it is characterized in that: in step (2), the current location of described testing vehicle is identical with the preset reference position in test zone refers to that the distance of current location and preset reference position is less than setpoint distance.
9. the robotization appraisal procedure of a kind of car-mounted terminal physical circuit dynamic locating accuracy according to claim 8, is characterized in that: described preset reference position is the center, section of test zone.
10. according to the robotization appraisal procedure of a kind of car-mounted terminal physical circuit dynamic locating accuracy one of claim 6 to 9 Suo Shu, it is characterized in that: the Dedicated Short Range Communications, coverage of first via side unit and the second roadside unit is greater than the section width of test zone; The Dedicated Short Range Communications, coverage zero lap of first via side unit and the second roadside unit.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106896392A (en) * | 2017-04-10 | 2017-06-27 | 千寻位置网络有限公司 | The method tested using ADAS technologies auxiliary positioning |
| CN109714703A (en) * | 2018-12-24 | 2019-05-03 | 武汉长江通信产业集团股份有限公司 | The measurement method of car-mounted terminal positioning accuracy based on cloud platform, apparatus and system |
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| CN113808398A (en) * | 2021-09-10 | 2021-12-17 | 杭州中威电子股份有限公司 | Vehicle real-time positioning checking system and checking method |
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